基于GA的交通信号自适应模糊控制研究及仿真软件开发
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摘要
近二三十年来，随着城市化进程的加快，车辆的激增，城市道路交叉路口变得越来越拥挤，已成为道路交通的瓶颈。传统定时配时控制方案已不能适应交通情况频繁的变化，能够保证整个城域交通网络平稳、安全运行的自动控制方案就显得至关重要，这方面的研究与应用已成为智能交通系统(Intelligent Transportation System，简称ITS)的重要组成部分。
模糊控制以其无需精确数学模型、可综合专家(交警)的经验等优点，成为当今信号配时控制的主流方法。由于经典模糊控制的规则集和隶属度函数往往是预先根据人的经验确定，且一经确定在整个控制过程中就不再改变。因此，当路口交通情况变化较大、特别是不同方向车流量相差较多的情况下，控制效果变得不理想。故采用搜索功能强大、不需了解对象机理、仅由适应度驱动的遗传算法对模糊控制器进行实时优化，从而实现交叉路口信号配时的自适应控制。同时鉴于城域交通仿真软件的研究成为当今交通控制领域的又一热点，笔者所在的团队联合开发城域混合交通流仿真软件。
论文以基于遗传算法的交叉路口模糊控制系统的自适应优化设计与仿真系统开发中的部分内容为研究重点，完成了以下工作：
1、综述了城域智能交通系统(ITS)交叉路口控制的背景以及基于模糊逻辑的交叉路口优化控制的研究进展，就交叉路口信号配时控制的特点及应用的特殊场合对各种模糊逻辑控制器(FLC)的设计方法进行分类，并阐述各种方法的设计思路和部分重要细节。
2、基于对经典模糊逻辑控制器(Traditional FLC)设计结构的分析，讨论了运用遗传算法(GA)分别对用于城域孤立交叉路口的经典FLC的模糊规则集和模糊子集隶属度函数分别进行优化设计。详细阐述了设计思想、编码方案、适应度函数的选取、遗传算子的改进等细节问题，并使用MATLAB仿真证明该方法的有效性。
3、将研究对象从孤立交叉路口转移到整个城域路网(多交叉路口)上，针对城域路网不同于孤立交叉路口的特点，设计了双模糊控制系统，并根据路网车流量的变化，运用GA对辅助模糊控制器(Secondary FLC)的输入、输出量的连续的模糊子集隶属度函数进行实时优化，详细阐述设计思想、编码方案、适应度函数的选取、遗传算子的改进等细节问题，仿真证明该自适应双模糊控制系统的有效性。
4、结合笔者在团队开发的城域微观混合交通流仿真与分析系统(Simulation and Analysis System of Urban Mixed Traffic，简称SASUMT)中所进行的图形用户界面的设计、仿真内核中微观对象的实现等工作，探讨了软件图形用户交互实现过程中的一些技术难点。目前该软件SASUMT已通过省级技术鉴定(浙经贸技鉴字[2003]216号)(见附录二)，并实际应用于杭州市文二、文三路单行改造项目仿真方案。
最后，总结全文的工作，并指出若干有待于今后进一步研究的关于城域交通信号自适应模糊控制以及混合交通流仿真与分析软件的内容。
With the fast development of the urbanization and the rapid increment of the vehicles in the urban area in the recent twenty or thirty years, the urban intersections become more and more crowded, and they turn to be the bottle-neck of the urban mixed traffic controlling. Therefore, using the automotive control method to make the whole urban traffic network work smoothly and safely is most important, and is emphasized by more and more scholars from both inside and outside. The research works of this field is becoming the most essential part of the Intelligent Transportation System.
Since Fuzzy Logic Control can integrate with expert's experiences and without precise mathematic model, it has come to be the most popular method in this field. However, as the fuzzy rules and the membership functions of the traditional Fuzzy Logic Controller are always given by human experiences beforehand and once decided never changing during the whole control period, the coming problem is that when the traffic condition changes too much, especially, the vehicles flow of different directions are discrepant greatly, the control effect becomes worse. So the Genetic Algorithm is used to real-timely optimize the FLC's fuzzy rules and membership functions to form self-adaptive FLC because the Genetic Algorithm has got the strong searching ability without knowing the mechanism of the object and only driven by the fitness function. At the same time, in order to simulate the different signal control schemes using in the big scale traffic network of urban area, and analysis the result and evaluate the different sc
hemes, the author's team also developed the Simulation and Analysis System of Urban Mixed Traffic.
This thesis presents the total project of designing the self-adaptive Fuzzy logic Controller using in both isolated intersection and in urban traffic networks and some content of the Simulation System's development. The main content of the thesis is as follows:
1 . Summing up the background of the traffic signal control in ITS and the research
work of optimal FLC used in the intersection signal control. Classifying the designation method of all kinds of FLCs', and explaining the designing details. 2. Discussing designation of GA optimizing respectively the fuzzy rules and
membership functions of the traditional FLC using in isolate intersection signal control based on the analysis of the traditional FLC's structure. Explaining the coding scheme, fitness function, GA operator, etc details. The effectiveness is proved by the simulation result of MATLAB.
3. Aiming at the difference between the urban traffic network and the isolated
intersection, designing the double FLCs system, and real-timed optimizing the sequential membership functions of the inputs and output of the Secondary FLC. Explaining the coding scheme, fitness function, GA operator, etc details. The effectiveness is proved by the simulation result of MATLAB.
4, Presenting the designation and implementation of Simulation and Analysis System
of Urban Mixed Traffic which was developed by the author's team. Now the system was checked and accepted by Economic and Commerce Committee of P. R. China ([2003] No.216) (see also in the appendix II). The system includes GIS management module, traffic simulation system's parameter setting module, the other third side's
traffic light controlling program module, microcosmic simulation module and simulation results analysis module, which can realize the on-line simulation and off-line analysis function. Based on this, the implementation of the microcosmic traffic objects in the simulation kernel and the designation and realization of the graohic-user-interface program of the system is emphasized in the later chapter. In the end, the thesis concludes with a summary and perspectives of the future research of the field.
模糊控制以其无需精确数学模型、可综合专家(交警)的经验等优点，成为当今信号配时控制的主流方法。由于经典模糊控制的规则集和隶属度函数往往是预先根据人的经验确定，且一经确定在整个控制过程中就不再改变。因此，当路口交通情况变化较大、特别是不同方向车流量相差较多的情况下，控制效果变得不理想。故采用搜索功能强大、不需了解对象机理、仅由适应度驱动的遗传算法对模糊控制器进行实时优化，从而实现交叉路口信号配时的自适应控制。同时鉴于城域交通仿真软件的研究成为当今交通控制领域的又一热点，笔者所在的团队联合开发城域混合交通流仿真软件。
论文以基于遗传算法的交叉路口模糊控制系统的自适应优化设计与仿真系统开发中的部分内容为研究重点，完成了以下工作：
1、综述了城域智能交通系统(ITS)交叉路口控制的背景以及基于模糊逻辑的交叉路口优化控制的研究进展，就交叉路口信号配时控制的特点及应用的特殊场合对各种模糊逻辑控制器(FLC)的设计方法进行分类，并阐述各种方法的设计思路和部分重要细节。
2、基于对经典模糊逻辑控制器(Traditional FLC)设计结构的分析，讨论了运用遗传算法(GA)分别对用于城域孤立交叉路口的经典FLC的模糊规则集和模糊子集隶属度函数分别进行优化设计。详细阐述了设计思想、编码方案、适应度函数的选取、遗传算子的改进等细节问题，并使用MATLAB仿真证明该方法的有效性。
3、将研究对象从孤立交叉路口转移到整个城域路网(多交叉路口)上，针对城域路网不同于孤立交叉路口的特点，设计了双模糊控制系统，并根据路网车流量的变化，运用GA对辅助模糊控制器(Secondary FLC)的输入、输出量的连续的模糊子集隶属度函数进行实时优化，详细阐述设计思想、编码方案、适应度函数的选取、遗传算子的改进等细节问题，仿真证明该自适应双模糊控制系统的有效性。
4、结合笔者在团队开发的城域微观混合交通流仿真与分析系统(Simulation and Analysis System of Urban Mixed Traffic，简称SASUMT)中所进行的图形用户界面的设计、仿真内核中微观对象的实现等工作，探讨了软件图形用户交互实现过程中的一些技术难点。目前该软件SASUMT已通过省级技术鉴定(浙经贸技鉴字[2003]216号)(见附录二)，并实际应用于杭州市文二、文三路单行改造项目仿真方案。
最后，总结全文的工作，并指出若干有待于今后进一步研究的关于城域交通信号自适应模糊控制以及混合交通流仿真与分析软件的内容。
With the fast development of the urbanization and the rapid increment of the vehicles in the urban area in the recent twenty or thirty years, the urban intersections become more and more crowded, and they turn to be the bottle-neck of the urban mixed traffic controlling. Therefore, using the automotive control method to make the whole urban traffic network work smoothly and safely is most important, and is emphasized by more and more scholars from both inside and outside. The research works of this field is becoming the most essential part of the Intelligent Transportation System.
Since Fuzzy Logic Control can integrate with expert's experiences and without precise mathematic model, it has come to be the most popular method in this field. However, as the fuzzy rules and the membership functions of the traditional Fuzzy Logic Controller are always given by human experiences beforehand and once decided never changing during the whole control period, the coming problem is that when the traffic condition changes too much, especially, the vehicles flow of different directions are discrepant greatly, the control effect becomes worse. So the Genetic Algorithm is used to real-timely optimize the FLC's fuzzy rules and membership functions to form self-adaptive FLC because the Genetic Algorithm has got the strong searching ability without knowing the mechanism of the object and only driven by the fitness function. At the same time, in order to simulate the different signal control schemes using in the big scale traffic network of urban area, and analysis the result and evaluate the different sc
hemes, the author's team also developed the Simulation and Analysis System of Urban Mixed Traffic.
This thesis presents the total project of designing the self-adaptive Fuzzy logic Controller using in both isolated intersection and in urban traffic networks and some content of the Simulation System's development. The main content of the thesis is as follows:
1 . Summing up the background of the traffic signal control in ITS and the research
work of optimal FLC used in the intersection signal control. Classifying the designation method of all kinds of FLCs', and explaining the designing details. 2. Discussing designation of GA optimizing respectively the fuzzy rules and
membership functions of the traditional FLC using in isolate intersection signal control based on the analysis of the traditional FLC's structure. Explaining the coding scheme, fitness function, GA operator, etc details. The effectiveness is proved by the simulation result of MATLAB.
3. Aiming at the difference between the urban traffic network and the isolated
intersection, designing the double FLCs system, and real-timed optimizing the sequential membership functions of the inputs and output of the Secondary FLC. Explaining the coding scheme, fitness function, GA operator, etc details. The effectiveness is proved by the simulation result of MATLAB.
4, Presenting the designation and implementation of Simulation and Analysis System
of Urban Mixed Traffic which was developed by the author's team. Now the system was checked and accepted by Economic and Commerce Committee of P. R. China ([2003] No.216) (see also in the appendix II). The system includes GIS management module, traffic simulation system's parameter setting module, the other third side's
traffic light controlling program module, microcosmic simulation module and simulation results analysis module, which can realize the on-line simulation and off-line analysis function. Based on this, the implementation of the microcosmic traffic objects in the simulation kernel and the designation and realization of the graohic-user-interface program of the system is emphasized in the later chapter. In the end, the thesis concludes with a summary and perspectives of the future research of the field.
引文
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