基于遗传算法的城市干线交通信号协调控制研究
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摘要
随着城市化进程的加快和社会经济的快速发展,汽车工业的迅速发展使城市交通拥挤问题日益突出,成为当今世界各个国家普遍关注的问题,它给人们的日常生活和社会经济发展带来了严重的影响。交叉口作为城市交通道路的交汇点,是产生城市交通拥挤的重要环节。因此,要提高城市道路的通行能力,缓解交通堵塞,首先对交叉口的交通流进行合理的分析和控制,提高各个交叉口的通行能力,这也是研究城市交通问题的一个关键切入点。城市交通干线是城市路网的重要组成部分,它的通畅与否将直接影响着整个城市交通网络的运行效率。本文以城市干线作为出发点,对城市交通信号控制展开研究,重点对城市干线协调优化控制的方法进行了深入研究。
本文对城市交通问题的目前现状,进行了分析和讨论,详细介绍了交通流与交通信号控制的基本理论,阐明了研究交叉口信号控制的意义。
其次,重点研究城市干线交通信号的协调优化控制,分析现有协调控制方法的特点以及不足,并给出在正常交通条件下,以交通干线系统中车辆总延误最小为目标的交通信号协调控制方法,建立了以相位差为优化控制变量的双向交通流动态优化控制模型。然后,对饱和交通条件下的交通流进行分析,建立了该状态下的干线协调控制延误模型,并给出了相位差和绿灯利用率之间的关系。
最后,使用基本遗传算法对双向绿波控制模型中的控制变量相位差进行优化,并在Matlab环境中对其进行10个周期的仿真实验,给出了优化后相位差的值和优化后的延误时间。并对优化后的车辆延误时间与定时控制时车辆延误时间进行了性能对比。结果表明优化后干线上车辆延误时间明显小于定时控制时的车辆延误时间。证明本文所提方法的有效性。
此外,本文采用基于计算干线车辆总延误的双向绿波控制方法,由于求解过程只需要相位差和适应度函数(交叉口总延误),这使得干线协调控制与路网协调控制之间已不存在明显的界限。因此本文提出的方法具有解决城市路网协调控制问题的潜力。
Along with the fast development of the society and economy and the quicken of the urbanization process, a rapidly growing of automobile industry has been promoting the problem of urban traffic congestion. Countries all over the world have paid much attention to this problem, for it has great influence on people's everyday life and social economic development. Urban intersections are the connections of the urban roads and the traffic conflict areas in urban city, to improve the capacity of urban road and relieving urban traffic congestion, effective control and management measures to intersection in urban are necessary, it is also a key breakthrough point for the research about urban traffic. Urban transportation trunks, as an important part of the urban road network, running smoothly or not directly affect the operation of the entire traffic network. In this paper, the urban traffic signal control were mainly researched, the methods of coordinated optimization control for urban trunk road were discussed in depth.
In this thesis, firstly, current problems of urban traffic were analyzed and discussed, the basic theories of traffic flow and traffic signal were introduced, and the significance of the research about urban multi-intersection signal control was expounded.
Secondly, coordinated optimization control of traffic signals for urban trunk road were mainly researched, coordinating control methods were investigated, a new traffic signal coordinating control method aimed at minimizing the mean vehicle delay time in urban trunk road was introduced, a two-way traffic flow dynamic optimization model using phase difference as coordinated optimization variable was presented, and then analyzed the traffic flow under traffic saturation, a coordination control delay model was presented, the relationship between phase differences and the utilization ratio of green light time was given.
Last but not the least, phase difference of Control Variable in two-direction green wave coordinate control strategy was optimized using simple genetic algorithm, simulation experim ents were held in Matlab environment, optimized phase differences value and optimized delay time were given. The results showed that the vehicle delay time after optimizationisapparently shorter than the vehicle delay time under timing control condition, which indicates that themethod which was presented in this paper is effectual.
What's more, this paper adopted two-direction green wave coordinate control method, whose solving process only need phase difference and Fitness function(total delay of intersections),Which makes the clear bounds between main street coordinate control and road network coordinate control are not easy to see. It indicates that the method presented in this paper possess potential to solve the problem of urban road network coordinate control.
本文对城市交通问题的目前现状,进行了分析和讨论,详细介绍了交通流与交通信号控制的基本理论,阐明了研究交叉口信号控制的意义。
其次,重点研究城市干线交通信号的协调优化控制,分析现有协调控制方法的特点以及不足,并给出在正常交通条件下,以交通干线系统中车辆总延误最小为目标的交通信号协调控制方法,建立了以相位差为优化控制变量的双向交通流动态优化控制模型。然后,对饱和交通条件下的交通流进行分析,建立了该状态下的干线协调控制延误模型,并给出了相位差和绿灯利用率之间的关系。
最后,使用基本遗传算法对双向绿波控制模型中的控制变量相位差进行优化,并在Matlab环境中对其进行10个周期的仿真实验,给出了优化后相位差的值和优化后的延误时间。并对优化后的车辆延误时间与定时控制时车辆延误时间进行了性能对比。结果表明优化后干线上车辆延误时间明显小于定时控制时的车辆延误时间。证明本文所提方法的有效性。
此外,本文采用基于计算干线车辆总延误的双向绿波控制方法,由于求解过程只需要相位差和适应度函数(交叉口总延误),这使得干线协调控制与路网协调控制之间已不存在明显的界限。因此本文提出的方法具有解决城市路网协调控制问题的潜力。
Along with the fast development of the society and economy and the quicken of the urbanization process, a rapidly growing of automobile industry has been promoting the problem of urban traffic congestion. Countries all over the world have paid much attention to this problem, for it has great influence on people's everyday life and social economic development. Urban intersections are the connections of the urban roads and the traffic conflict areas in urban city, to improve the capacity of urban road and relieving urban traffic congestion, effective control and management measures to intersection in urban are necessary, it is also a key breakthrough point for the research about urban traffic. Urban transportation trunks, as an important part of the urban road network, running smoothly or not directly affect the operation of the entire traffic network. In this paper, the urban traffic signal control were mainly researched, the methods of coordinated optimization control for urban trunk road were discussed in depth.
In this thesis, firstly, current problems of urban traffic were analyzed and discussed, the basic theories of traffic flow and traffic signal were introduced, and the significance of the research about urban multi-intersection signal control was expounded.
Secondly, coordinated optimization control of traffic signals for urban trunk road were mainly researched, coordinating control methods were investigated, a new traffic signal coordinating control method aimed at minimizing the mean vehicle delay time in urban trunk road was introduced, a two-way traffic flow dynamic optimization model using phase difference as coordinated optimization variable was presented, and then analyzed the traffic flow under traffic saturation, a coordination control delay model was presented, the relationship between phase differences and the utilization ratio of green light time was given.
Last but not the least, phase difference of Control Variable in two-direction green wave coordinate control strategy was optimized using simple genetic algorithm, simulation experim ents were held in Matlab environment, optimized phase differences value and optimized delay time were given. The results showed that the vehicle delay time after optimizationisapparently shorter than the vehicle delay time under timing control condition, which indicates that themethod which was presented in this paper is effectual.
What's more, this paper adopted two-direction green wave coordinate control method, whose solving process only need phase difference and Fitness function(total delay of intersections),Which makes the clear bounds between main street coordinate control and road network coordinate control are not easy to see. It indicates that the method presented in this paper possess potential to solve the problem of urban road network coordinate control.
引文
[1]段里仁.道路交通自动控制[M].北京：中国人民公安大学出版社,1991.
[2]杨佩昆,张树升,交通管理与控制(第三版)[M].北京：人民交通出版社,1999.
[3]全永燊.城市交通控制[M].北京：人民交通出版社,1989
[4]任福田等译.道路通行能力手册[M].北京：中国建筑工业出版社,1991.
[5]翟润平,周彤梅编著.道路交通控制原理及应用[M].北京：中国人民公安大学出版社,2002
[6]尹宏宾,徐建闽.道路交通控制技术[M].广州：华南理工大学出版社,2000.
[7]王毅,王昌井.北京市城区道路交通噪声的分析与研究.噪声与振动控制[J],1997,17(4)：25-28
[8]翟中民.道路交通组织优化[M].北京：人民交通出版社,2004
[9]尹宏宾.智能化信号交叉口控制及其交通量预测方法的研究[M].广州：华南理工大学,1999.4：1-6.
[10]栗红强.城市交通控制信号配时参数优化方法研究：[D]长春：吉林大学,2004.
[11]陈淑艳,陈森发,吴明赞.单路口交通的多相位实时模糊控制[J].系统工程理论与实践,2003,23(1)：110-115.
[12]陈小锋.城市交通信号动态优化控制技术研究[D].西安：西北工业大学,2003
[13]Jovanis P P. Gregor J A. Coordination of actuated arterial traffic signal systems Journal of Transportation Engineering,1986,112(4):416-432.
[14]Morgan J T, Little J D C. Synchronizing traffic signals for maximal bandwidth OpnsRes..1964,12(6):896-910.
[15]刘灿齐,杨佩昆.信号灯交叉口车队散布模型与信号灯协调控制[J].同济大学学报(自然科学版),1996,24(6)：636-641.
[16]卜昀,崔晓天.城市干道协调控制相位差优化设计方案探讨[J].交通与运输,2001,17(增)：20-21.
[17]张智星.Matlab程序设计与应用[M].北京：清华大学出版社,2002.
[18]许志强,冯恩民,林建华.随机模拟在交通信号配时中的应用[J].应用基础与工程科学学报,1999,7(1)：1-6.
[19]李灵犀,高海军,王飞跃.两相邻路口交通信号的协调控制[J].自动化学 报,2003,29(6)：947-952.
[20]黄辉先.城市交通信号优化控制方法的研究[D].西安：西北工业大学,2000.
[21]徐良杰.单点交叉信号协调优化控制技术研究[D].南京：东南大学博士学位论文,2005.
[22]刘智勇.智能交通控制理论及其应用[M].北京：科学出版社,2003.24,164-165
[23]Elahi S M, Radwan A E, Goul K M. Traffic Signal Using Mixed Controller Operations [J].Journal of Transportation Engineering,1992,118 (6):866-879.
[24]YU Lei, Katsuhisa Ohno.A Theoretical Approach to Optimizing Offsets of Coordinated Traffic Signal Controls[C].Journal of Transportation Systems Engineering and Information Technology,2002,2(4)
[25]Carsten O M J, et al. Intelligent Traffic Signals for Pedestrians:Evaluation of Trial in three Countries [J]. Transpn.Res.1998, C 6:213-229.
[26]黄辉先,史忠科.城市单交叉路口交通流实时遗传算法优化控制[J].系统工程理论与实践,2001,3(1)：102-104
[27]万绪军,陆化普.线控系统中相位差优化模型的研究[J].中国公路学报,2001,14(2)：99-102.
[28]Little J D C, keelson M D, Gartner N H. MAXBAND:A program for setting signals on arteries and triangular net. Transportation Research Record 795 Washington D. C.:U.S. Dept. Transp.1981
[29]郑翔骥,陈明凯一种实现双向绿波信号控制的方法[J].交通与计算机,2004,22(5)：46-48.
[30]廷平,蒋氓一种实现双向绿波信号控制的方法及其应用实现[J].测控技术与设备,2003,29(1)：31-33.
[31]刘广萍,裴玉龙.信号控制下交叉口延误计算方法研究[J].中国公路学报,2005,18(1)：104-108.
[32]Li R M, Lu H F. Research of arterial traffic coordinated fuzzy control model based on genetic algorithm, Proceedings of the 6th World Congress on Intelligent Control and Automation, Dalian, china,2006:8597-8601
[33]常云涛,彭国雄.基于遗传算法的城市干道协调控制[J].交通运输工程学报,2003,3(2)：106-112.
[34]张宗华,张伟,赵霖.利用遗传算法实现交通控制系统优化的方法[J].计算机工程,2003,7(12)53-54.
[35]周明,孙树栋.遗传算法原理及应用[M].北京：国防工业出版社,1999.
[36]常裕赓遗传算法综述.控制理论与应用[M],1996,13(6)
[37]Ammann, Paul. Safety kernel for traffic light control. IEEE Aerospace and Electronic Systems Magazine,1996,11(2):13-19
[38]陈森发,徐吉谦,陈洪,毛岚.城市主干道交通信号灯模糊线控制的探讨.运筹与管理,1998,(1)：35-41
[39]保丽霞.基于信息集成的城市交通流诱导与交通控制协同的关键理论及技术研究[D].长春：吉林大学,2006年
[40]李水友刘智勇.城市交通感应控制综述[J].城市交通2006.4(6)：64-6
[2]杨佩昆,张树升,交通管理与控制(第三版)[M].北京：人民交通出版社,1999.
[3]全永燊.城市交通控制[M].北京：人民交通出版社,1989
[4]任福田等译.道路通行能力手册[M].北京：中国建筑工业出版社,1991.
[5]翟润平,周彤梅编著.道路交通控制原理及应用[M].北京：中国人民公安大学出版社,2002
[6]尹宏宾,徐建闽.道路交通控制技术[M].广州：华南理工大学出版社,2000.
[7]王毅,王昌井.北京市城区道路交通噪声的分析与研究.噪声与振动控制[J],1997,17(4)：25-28
[8]翟中民.道路交通组织优化[M].北京：人民交通出版社,2004
[9]尹宏宾.智能化信号交叉口控制及其交通量预测方法的研究[M].广州：华南理工大学,1999.4：1-6.
[10]栗红强.城市交通控制信号配时参数优化方法研究：[D]长春：吉林大学,2004.
[11]陈淑艳,陈森发,吴明赞.单路口交通的多相位实时模糊控制[J].系统工程理论与实践,2003,23(1)：110-115.
[12]陈小锋.城市交通信号动态优化控制技术研究[D].西安：西北工业大学,2003
[13]Jovanis P P. Gregor J A. Coordination of actuated arterial traffic signal systems Journal of Transportation Engineering,1986,112(4):416-432.
[14]Morgan J T, Little J D C. Synchronizing traffic signals for maximal bandwidth OpnsRes..1964,12(6):896-910.
[15]刘灿齐,杨佩昆.信号灯交叉口车队散布模型与信号灯协调控制[J].同济大学学报(自然科学版),1996,24(6)：636-641.
[16]卜昀,崔晓天.城市干道协调控制相位差优化设计方案探讨[J].交通与运输,2001,17(增)：20-21.
[17]张智星.Matlab程序设计与应用[M].北京：清华大学出版社,2002.
[18]许志强,冯恩民,林建华.随机模拟在交通信号配时中的应用[J].应用基础与工程科学学报,1999,7(1)：1-6.
[19]李灵犀,高海军,王飞跃.两相邻路口交通信号的协调控制[J].自动化学 报,2003,29(6)：947-952.
[20]黄辉先.城市交通信号优化控制方法的研究[D].西安：西北工业大学,2000.
[21]徐良杰.单点交叉信号协调优化控制技术研究[D].南京：东南大学博士学位论文,2005.
[22]刘智勇.智能交通控制理论及其应用[M].北京：科学出版社,2003.24,164-165
[23]Elahi S M, Radwan A E, Goul K M. Traffic Signal Using Mixed Controller Operations [J].Journal of Transportation Engineering,1992,118 (6):866-879.
[24]YU Lei, Katsuhisa Ohno.A Theoretical Approach to Optimizing Offsets of Coordinated Traffic Signal Controls[C].Journal of Transportation Systems Engineering and Information Technology,2002,2(4)
[25]Carsten O M J, et al. Intelligent Traffic Signals for Pedestrians:Evaluation of Trial in three Countries [J]. Transpn.Res.1998, C 6:213-229.
[26]黄辉先,史忠科.城市单交叉路口交通流实时遗传算法优化控制[J].系统工程理论与实践,2001,3(1)：102-104
[27]万绪军,陆化普.线控系统中相位差优化模型的研究[J].中国公路学报,2001,14(2)：99-102.
[28]Little J D C, keelson M D, Gartner N H. MAXBAND:A program for setting signals on arteries and triangular net. Transportation Research Record 795 Washington D. C.:U.S. Dept. Transp.1981
[29]郑翔骥,陈明凯一种实现双向绿波信号控制的方法[J].交通与计算机,2004,22(5)：46-48.
[30]廷平,蒋氓一种实现双向绿波信号控制的方法及其应用实现[J].测控技术与设备,2003,29(1)：31-33.
[31]刘广萍,裴玉龙.信号控制下交叉口延误计算方法研究[J].中国公路学报,2005,18(1)：104-108.
[32]Li R M, Lu H F. Research of arterial traffic coordinated fuzzy control model based on genetic algorithm, Proceedings of the 6th World Congress on Intelligent Control and Automation, Dalian, china,2006:8597-8601
[33]常云涛,彭国雄.基于遗传算法的城市干道协调控制[J].交通运输工程学报,2003,3(2)：106-112.
[34]张宗华,张伟,赵霖.利用遗传算法实现交通控制系统优化的方法[J].计算机工程,2003,7(12)53-54.
[35]周明,孙树栋.遗传算法原理及应用[M].北京：国防工业出版社,1999.
[36]常裕赓遗传算法综述.控制理论与应用[M],1996,13(6)
[37]Ammann, Paul. Safety kernel for traffic light control. IEEE Aerospace and Electronic Systems Magazine,1996,11(2):13-19
[38]陈森发,徐吉谦,陈洪,毛岚.城市主干道交通信号灯模糊线控制的探讨.运筹与管理,1998,(1)：35-41
[39]保丽霞.基于信息集成的城市交通流诱导与交通控制协同的关键理论及技术研究[D].长春：吉林大学,2006年
[40]李水友刘智勇.城市交通感应控制综述[J].城市交通2006.4(6)：64-6