CN101901549A - Multi-emergency vehicle signal priority control device at single-point signalized crossing - Google Patents
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Abstract
The invention discloses a multi-emergency vehicle signal priority control device at a single-point signalized crossing, relates to a single-point traffic signal control device at a crossing for controlling traffic signals and aims to solve the problem that the conventional signal priority control system is in chaos under the condition that emergency vehicles from different entrance directions need to pass through the crossing at the same time interval. The device comprises a plurality of phase intelligent agents, multiple groups of signal lamps and a plurality of vehicle detectors, wherein each phase intelligent agent corresponds to a group of signal lamps to control phase sequence and duration of alternative change of turn-on and turn-off of each signal lamp; each vehicle detector is used for detecting an emergency priority signal and transmitting the signal to the phase intelligent agent of a corresponding traffic flow access road; the device also comprises a management intelligent agent which interacts information with each phase intelligent agent; and when different vehicle detectors simultaneously detect the vehicles with the emergency priority, an optimal phase sequence among the phase intelligent agents is made and the sequence result is transmitted to each phase intelligent agent.
Description
Technical field
The present invention relates to the single-point traffic-control unit of traffic crossing.
Background technology
After the disaster incident took place, contingency management department need make response to incident in the shortest time, rescued the wounded, evacuated the masses, farthest to reduce casualties and property loss; For the area that great disaster takes place, should in time provide goods and materials rescues such as food, medicine, tent, with the casualties that causes because of the goods and materials scarcity after the minimizing disaster.Therefore, guarantee that emergency vehicles are in a kind of safety with to arrive in love scene be the problem that various countries' responding agencies is all attached great importance to the following very first time of mode fast.Unfortunately, the traffic problems in the reality make emergency vehicles be difficult to arrival event scene fast and safely, and during especially by the crossing, the delay and the danger of emergency vehicles are bigger.Show in the emergency vehicles accident that according to the emergency vehicles casualty investigation findings of U.S. Fu Jili subregion about 31% occurs in signalized intersections, and the accident injury of crossing is generally more serious than non-crossing.
Traffic scholar in various countries' is devoted to research and how carries out preferential measure to guarantee emergency vehicles fast and safely by the crossing, and wherein a kind of preferential measure of generally adopting is preferential in signalized intersections implementation emergency signal.When an emergency vehicles arriving signal crossing, its request signal is preferential.In case emergency vehicles signal priority system receives request, it interrupts normal signal operation, then is the request service of emergency vehicles.After emergency vehicles passed through the crossing, emergency vehicles signal priority system made signal get back to normal operation.Delay when this emergency vehicles signal priority system has reduced emergency vehicles to a certain extent by the crossing has also reduced the influence of emergency vehicles to other vehicles simultaneously.
Yet the preferential measure of this emergency signal is only effective to the situation that emergency vehicles are arranged to single importer in the same period.Under many circumstances, when disaster was comparatively serious, government department can send the emergency vehicles of many different priorities to go to the scene, and these emergency vehicles comprise ambulance, fire truck or emergent goods and materials car etc., and obviously these vehicles can not sent from the three unities.When emergency vehicles go to love scene or when love scene returns, tend to occur from different importers to emergency vehicles need be in the same period situation by the crossing.At this moment, existing signal priority control system will fall into chaos, and in this case, the crossing is easy to occur bigger delay, even can cause traffic hazard.
Summary of the invention
The many emergency vehicles signal priority control device that the purpose of this invention is to provide a kind of single point signals control crossing, with solve from different importers to emergency vehicles need be in the same period existing signal priority control system can fall into chaos during situation by the crossing problem.
It comprises a plurality of phase intelligent bodies 1, organizes signal lamp 3 and a plurality of wagon detector 4 more; Every group of signal lamp 3 is arranged on the crossing that enters of a wagon flow passage, with the left lateral of indication wagon flow, move ahead or wait for, each phase intelligent body 1 and one group of signal lamp 3 are corresponding to control the phase order and the duration of the bright or checker that goes out of each signal lamp in one group of signal lamp; Each wagon detector 4 be arranged on a wagon flow passage place to estimate by the vehicle of crossing meet an urgent need priority sign detection also detected information send to the phase intelligent body 1 of corresponding wagon flow passage;
Phase intelligent body 1: when controlling one group of signal lamp, receive the testing result of wagon detector 4, judge priority level, testing result is carried out pre-service, and result is sent to the phase intelligent body 1 and the intelligent body 2 of management of a backward one phase place; When certain phase intelligent body 1 is in green light phase place output state, by and fall behind between the phase intelligent body 1 of an one phase place and carry out information interaction, determine whether to prolong, shorten or stop it self green light phase place output state;
It also comprises the intelligent body 2 of management: manage intelligent body 2 and carry out information interaction with each phase intelligent body 1, after detecting vehicle simultaneously when different wagon detector 4 with emergent right of priority, manage the optimum angle ordering between intelligent body 2 each phase intelligent bodies 1 of formulation, and send ranking results to each phase intelligent body 1; The 1 unconditional instruction of carrying out the intelligent body 2 of management of phase intelligent body, control is respectively organized the bright of signal lamp 3 corresponding signal lamps or is gone out.
The invention provides under a kind of contingency condition, single-point control crossing many emergency vehicles signal priority is coordinated the device of control.This control device can be according to each importer to different brackets right-of-way that emergency vehicles had, make optimizing and revising of system, thereby ensure emergency vehicles quickly and safely by signalized intersections, having great importance aspect raising emergent rescue capability, the minimizing casualty loss.
Description of drawings
Fig. 1 is a structural representation of the present invention.Fig. 2 is a course of work synoptic diagram of the present invention, Fig. 3 is the corresponding membership function figure of maximum eager degree of red light phase place in the embodiment three, Fig. 4 is the membership function figure of the conversion degree correspondence of green light phase place in the embodiment three, Fig. 5 is the membership function figure of the surplus ratio correspondence of green light signals time in the embodiment three, Fig. 6 is the membership function figure of green light phase signal timing output parameter in the embodiment three, Fig. 7 is the corresponding membership function figure of eager degree of next phase place in the embodiment five, Fig. 8 is the maximum eager membership function figure that spends phase place and stand-by period correspondence in the embodiment five, and Fig. 9 is the membership function figure of the output parameter after changing of next phase order in the embodiment five.Horizontal ordinate X represents the input quantity of fuzzy control among Fig. 3 to Fig. 9, is respectively: the maximum eager degree of red light phase place, the conversion degree of green light phase place, the surplus ratio of green light signals time, the timing of green light phase signal, the eager degree of next phase place, the stand-by period of maximum eager degree phase place and the change of next phase order; U (x) represents the output quantity of fuzzy control, promptly corresponding degree of membership level, and value is in [0,1] interval.
Embodiment
Embodiment one: specify present embodiment below in conjunction with Fig. 1 and Fig. 2.Present embodiment comprises a plurality of phase intelligent bodies 1, organizes signal lamp 3 and a plurality of wagon detector 4 more; Every group of signal lamp 3 is arranged on the crossing that enters of a wagon flow passage, with the left lateral of indication wagon flow, move ahead or wait for, each phase intelligent body 1 and one group of signal lamp 3 are corresponding to control the phase order and the duration of the bright or checker that goes out of each signal lamp in one group of signal lamp; Thereby each wagon detector 4 be arranged on a wagon flow passage place to estimate by the vehicle of crossing meet an urgent need priority sign detection also detected information send to the phase intelligent body 1 of the corresponding wagon flow passage location of finishing emergency vehicles place wagon flow passage;
Phase intelligent body 1: when controlling one group of signal lamp, receive the testing result of wagon detector 4, judge priority level, testing result is carried out pre-service, and result is sent to the phase intelligent body 1 and the intelligent body 2 of management of a backward one phase place; Phase place of described backwardness is meant that the one group of signal lamp in back following last group of signal lamp and carrying out the order bright or operation of going out.When certain phase intelligent body 1 is in green light phase place output state, according to the real-time vehicle flowrate state of crossing, by and fall behind between the phase intelligent body 1 of an one phase place and carry out information interaction, determine whether to prolong, shorten or stop it self green light phase place output state.
It also comprises the intelligent body 2 of management: manage intelligent body 2 and carry out information interaction with each phase intelligent body 1, after detecting vehicle simultaneously when different wagon detector 4 with emergent right of priority, manage the optimum angle ordering between intelligent body 2 each phase intelligent bodies 1 of formulation, and send ranking results to each phase intelligent body 1; The 1 unconditional instruction of carrying out the intelligent body 2 of management of phase intelligent body, control is respectively organized the bright of signal lamp 3 corresponding signal lamps or is gone out;
When described crossing was " ten " word crossing, phase intelligent body 1 was four, and every group of signal lamp comprises left lateral and craspedodrome signal lamp.Described emergent right of priority can be divided into multistage, and the right of priority that rank is high is wanted priority processing.Emergent priority sign can transmit between emergency vehicles and wagon detector 4 by the wireless messages transmission manner.
Embodiment two: the difference of present embodiment and embodiment one is:
Described wagon detector 4 also carries out the detection of vehicle flowrate to each wagon flow access road of traffic signals control crossing.
So be provided with, in the right-of-way of considering emergency vehicles, also considered each importer to the vehicle flowrate state and current signal time distributing conception, make optimizing and revising of system, thereby ensure emergency vehicles quickly and safely by signalized intersections, and can reduce the influence of emergency vehicles other public vehicles.
The course of work of present embodiment is made up of two parts, and first is the signal timing dial process of phase intelligent body; When meeting an urgent need priority conflict between each wagon flow passage, be that first is in work fully.Second portion is the phase place sequencer procedure of the intelligent body of management, is used to arbitrate emergent right of priority.Manage institutional framework between intelligent body and the phase intelligent body and be a kind of version between Complete autonomy formula and master-slave mode, both can bring into play the autonomy and the dirigibility of phase intelligent body, can control the operation of phase intelligent body by managing intelligent body to a certain extent again.
Embodiment three: specify present embodiment below in conjunction with Fig. 2 to Fig. 9.The difference of present embodiment and embodiment two is: what phase intelligent body 1 adopted when whether decision prolongs, shortens or stop it self green light phase place output state is fuzzy reasoning method.
The fuzzy reasoning process of phase intelligent body can be described as: the input quantity of fuzzy reasoning module is the maximum eager degree of red light phase place, the conversion degree and the surplus ratio of green light signals time of green light phase place, after carrying out fuzzy reasoning according to predefined fuzzy rule, draw the signal timing dial of a green light phase place through the reverse gelatinization, as previous relatively green time time expand, shortening time or keep green time constant.
This process mainly comprises following 4 steps:
The pre-service of A, sensor information.Because therefore wagon detector 4 detected information can not need carry out pre-service to detection information directly as the input of fuzzy reasoning process.Obtain the eager degree of the conversion degree and the red light phase place of green light phase place after the processing.The eager kilsyth basalt of red light phase place shows the eager degree of waiting for the vehicle that green light is current under the red light phase place; When red light phase place queuing vehicle number is a lot, when perhaps the emergency vehicles priority level was higher, its eager degree was just higher relatively, otherwise then relatively low.The conversion degree of green light phase place represents that current green light phase place is necessary to convert to the degree of red light phase place; When vehicle number in the green light phase place of letting pass seldom the time, it is high that its conversion degree is just wanted relatively, otherwise when also having the high emergency vehicles of priority level, when perhaps also having the vehicle that is much passing through, its conversion degree is just low relatively.
The preprocessing process of information can be divided into three phases: in the phase one priority level of each emergency vehicles is calculated; Subordinate phase calculates the emergency vehicles priority of per share wagon flow in each phase place; Phase III calculates the eager degree of red light phase place and the conversion degree of green light phase place.
The obfuscation of B, information input.Input parameter is used for needing to carry out fuzzification process before the fuzzy reasoning, promptly determines that according to the subordinate function of input parameter each input parameter belongs to appropriate fuzzy set respectively.
When carrying out fuzzification process, should at first determine to describe the fuzzy language of input parameter, select suitable subordinate function for input parameter then.Behind the selected subordinate function, then can calculate the degree of membership of each input parameter value according to subordinate function.In fuzzy mathematics, degree of membership is with the performance of 0 to 1 decimal, " 0 " expression degree of membership is minimum, " 1 " expression degree of membership is the highest, the process of obfuscation is exactly the degree of membership that input parameter is converted into corresponding fuzzy language item, by this process, an accurate amount can be converted into fuzzy quantity, finish the obfuscation of input.
The input parameter that the phase intelligent phantom is stuck with paste reasoning module is: 1. the maximum of red light phase place spent in a hurry; 2. the conversion degree of green light phase place; 3. the surplus ratio of green light signals time.
1. the maximum of red light phase place spent in a hurry: this parameter determines that there is the maximum entrance driveway of degree in a hurry a crossing at red interval, and it plays crucial effects to signal timing dial, and bigger value may cause the shortening of green time.The fuzzy language item of this parameter correspondence is: very little, little, medium, big.Its corresponding subordinate function as shown in Figure 3.
2. the conversion degree of green light phase place: 1 parameter of the fuzzy language Xiang Yudi of this parameter is just the same, and its subordinate function is also just the same.Its corresponding subordinate function as shown in Figure 4.
3. the surplus ratio of green light signals time: the surplus ratio of green light signals time is definite extremely important to signal timing dial, and it has shown the unspent ratio of green time.If not having vehicle to arrive still during green light signals increases at red interval queuing vehicle, the decision-making of that signal timing dial depends on the surplus ratio of green time, generally speaking, if the surplus ratio of green time is bigger, the possibility that this moment, green time shortened is just bigger.This parameter is according to determining that with the green time in a green time and the last signal time distributing conception its corresponding fuzzy language item is: very little, little, medium, big, corresponding subordinate function as shown in Figure 5.
C, fuzzy reasoning.In the preferential fuzzy reasoning module of emergency vehicles, fuzzy rule is based upon on the basis of input and output variable combination.Characteristics and traffic expertise according to traffic control under the case of emergency, obtain the fuzzy rule base in the phase intelligent phantom paste reasoning process, this rule base is made up of 64 fuzzy rules, a kind of fuzzy relation of each bar rule decision, as: if if() the maximum eager degree is(of red light phase place is) very big, and(and) the conversion degree is(of green light phase place is) very little, and(and) the surplus ratio is(of green light signals time is) very big then(and) green time shortens.64 rules have just determined 64 kinds of fuzzy relations in the table.
When carrying out fuzzy reasoning, undertaken by the computing method of correspondence according to fuzzy rule.Computation process is divided into three steps: the compose operation of input, fuzzy implication method, output synthetic.Through these three step operation, finally obtain a fuzzy output, just the result that draws of fuzzy reasoning.
D, the gelatinization of output reverse.The result who obtains by fuzzy reasoning is a fuzzy set or subordinate function, but in actual use, needs a definite result.On behalf of the process of the monodrome of this fuzzy set, get one in the fuzzy set that reasoning obtains can just be called the reverse gelatinization relatively.In the fuzzy inference system of phase intelligent body, output quantity is prolongation, the shortening or constant of green light signals time, and its result describes with 5 fuzzy language items: very big shortening, shortening, constant, prolong, very big prolongation.The subordinate function of output parameter as shown in Figure 6.
The reverse gelatinizing method is more, and method commonly used comprises method of weighted mean, maximum membership degree method, gravity model appoach etc.Here, the present invention has selected gravity model appoach for use, promptly obtains exact value by the center of gravity of calculating degree of membership curve enclosing region.This method is better than the control effect of other method, and simple, implements convenient and swiftly with computing machine, and this also is to control desired in real time to traffic flow.
Embodiment four:The difference of present embodiment and embodiment three is after fuzzy reasoning finishes, control effect after phase intelligent body 1 will be carried out in real time feeds back to the intelligent body 2 of management, so that manage that intelligent body 2 upgrades for experimental knowledge and to the renewal of self experimental knowledge.
Embodiment five: the difference of present embodiment and embodiment three is: manage the information that intelligent body 2 transmits according to experimental knowledge that it had and all phase intelligent bodies 1 of receiving when the optimum angle ordering of determining between each phase intelligent body 1, from the angle of integral body the ordering strategy of phase intelligent body is carried out reasoning.The reasoning process of managing intelligent body 2 can be described as:
A, input obfuscation.In the intelligent body of management, fuzzy reasoning process is similar to fuzzy reasoning process in the phase intelligent body, and just the input quantity of fuzzy reasoning module is the maximum eager degree of red light phase place, the eager degree of next phase place and the stand-by period of maximum eager degree phase place.
1. the maximum of red light phase place spent in a hurry.The maximum eager degree of red light phase place is identical with first input parameter in the phase intelligent body, and its fuzzy language item is: very little, little, medium, big.Its corresponding subordinate function as shown in Figure 3.
2. the eager degree of next phase place.Here so-called next phase place be meant in the signal time distributing conception come phase place after the green light phase place in definite phase place ordering.For obtaining optimization phase sequence, the eager degree of all phase places all is known, utilizes the maximum eager degree of the eager degree contrast red light phase place of next phase place, can determine whether predetermined next phase place is suitable green light phase place.Its fuzzy language item is: little, medium, big, corresponding subordinate function as shown in Figure 7.
The stand-by period of 3. maximum eager degree phase place.In the fuzzy reasoning module of the intelligent body of management,, must know the maximum eager degree and the stand-by period (red time of maximum eager degree) of red light phase place in order to determine the right of priority of phase place next time.Its fuzzy language item is: short, medium, long, corresponding subordinate function as shown in Figure 8.
, fuzzy reasoning and reverse gelatinization.According to the characteristics of traffic control under the case of emergency and in conjunction with the traffic expertise, make up the fuzzy rule base in the intelligent phantom paste of the management reasoning process.The fuzzy language control strategy of the single output of the input of three in the rule base is made up of 36 fuzzy rules, and the fuzzy reasoning process in the concrete reasoning process same-phase intelligence body is identical.
In the fuzzy inference system of the intelligent body of management, output quantity is the change of next phase order, and its result describes with 2 fuzzy language items: change, constant.The subordinate function of output parameter as shown in Figure 9.Gravity model appoach is used in the gelatinization of output reverse equally.
Claims (9)
1. single point signals is controlled many emergency vehicles signal priority control device of crossing, and it comprises a plurality of phase intelligent bodies (1), organizes signal lamp (3) and a plurality of wagon detector (4) more; Every group of signal lamp (3) is arranged on the crossing that enters of a wagon flow passage, with the left lateral of indication wagon flow, move ahead or wait for, each phase intelligent body (1) is corresponding with one group of signal lamp (3) to control the phase order and the duration of the bright or checker that goes out of each signal lamp in one group of signal lamp; Each wagon detector (4) be arranged on a wagon flow passage place to estimate by the vehicle of crossing meet an urgent need priority sign detection also detected information send to the phase intelligent body (1) of corresponding wagon flow passage;
Phase intelligent body (1): when controlling one group of signal lamp, receive the testing result of wagon detector (4), judge priority level, testing result is carried out pre-service, and result is sent to the phase intelligent body (1) and the management intelligent body (2) of a backward one phase place; When certain phase intelligent body (1) is in green light phase place output state, by and fall behind between the phase intelligent body (1) of an one phase place and carry out information interaction, determine whether to prolong, shorten or stop it self green light phase place output state;
It is characterized in that it also comprises management intelligent body (2): manage intelligent body (2) and carry out information interaction with each phase intelligent body (1), after different wagon detector (4) detects the vehicle with emergent right of priority simultaneously, manage intelligent body (2) and formulate optimum angle ordering between each phase intelligent body (1), and send ranking results to each phase intelligent body (1); The unconditional instruction of carrying out the intelligent body of management (2) of phase intelligent body (1), control is respectively organized the bright of signal lamp (3) corresponding signal lamp or is gone out.
2. many emergency vehicles signal priority control device of single point signals control according to claim 1 crossing is characterized in that described wagon detector (4) also carries out the detection of vehicle flowrate to each wagon flow access road of traffic signals control crossing.
3. many emergency vehicles signal priority control device of single point signals according to claim 1 control crossing, what it is characterized in that phase intelligent body (1) adopts when whether decision prolongs, shortens or stop it self green light phase place output state is fuzzy reasoning method.
4. many emergency vehicles signal priority control device of single point signals control according to claim 3 crossing, the fuzzy reasoning process that it is characterized in that the phase intelligent body is described as: the input quantity of fuzzy reasoning module is the maximum eager degree of red light phase place, the conversion degree and the surplus ratio of green light signals time of green light phase place, after carrying out fuzzy reasoning according to fuzzy rule, gelatinization draws the signal timing dial of a green light phase place through reverse.
5. many emergency vehicles signal priority control device of single point signals according to claim 4 control crossing is characterized in that the signal timing dial that the reverse gelatinization draws a green light phase place is: previous relatively green time time expand, shortening time or keep green time constant.
6. many emergency vehicles signal priority control device of single point signals control according to claim 3 crossing is characterized in that fuzzy reasoning method comprises following four steps:
The pre-service of A, sensor information obtains the eager degree of the conversion degree and the red light phase place of green light phase place after the processing; The eager kilsyth basalt of red light phase place shows the eager degree of waiting for the vehicle that green light is current under the red light phase place; The conversion degree of green light phase place represents that current green light phase place is necessary to convert to the degree of red light phase place; The preprocessing process of information can be divided into three phases: in the phase one priority level of each emergency vehicles is calculated; Subordinate phase calculates the emergency vehicles priority of per share wagon flow in each phase place; Phase III calculates the eager degree of red light phase place and the conversion degree of green light phase place;
The obfuscation of B, information input when carrying out fuzzification process, at first determines to describe the fuzzy language of input parameter, selects suitable subordinate function for input parameter then; Behind the selected subordinate function, calculate the degree of membership of each input parameter value according to subordinate function;
The input parameter that the phase intelligent phantom is stuck with paste reasoning module is: 1. the maximum of red light phase place spent in a hurry; 2. the conversion degree of green light phase place; 3. the surplus ratio of green light signals time;
C, fuzzy reasoning;
D, the gelatinization of output reverse.
7. control many emergency vehicles signal priority control device of crossings according to claim 3,4 or 6 described single point signals, after it is characterized in that fuzzy reasoning finishes, control effect after phase intelligent body (1) will be carried out in real time feeds back to management intelligent body (2), so that manage that intelligent body (2) upgrades for experimental knowledge and to the renewal of self experimental knowledge.
8. many emergency vehicles signal priority control device of single point signals control according to claim 1 crossing, it is characterized in that managing the information that intelligent body (2) transmits according to experimental knowledge that it had and all phase intelligent bodies (1) of receiving when the optimum angle ordering of determining between each phase intelligent body (1), the ordering strategy of phase intelligent body (1) is carried out reasoning from the angle of integral body.
9. many emergency vehicles signal priority control device of single point signals control according to claim 8 crossing is characterized in that the reasoning process of managing intelligent body (2) is:
A, input obfuscation, input quantity are the maximum eager degree of red light phase place, the eager degree of next phase place and the stand-by period of maximum eager degree phase place;
B, fuzzy reasoning and reverse gelatinization utilize fuzzy rule base to carry out fuzzy reasoning and the reverse gelatinization is handled.
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| CN102110372A (en) * | 2011-03-04 | 2011-06-29 | 哈尔滨工业大学 | Method for controlling signal priority of emergency vehicle at intersection based on two-stage optimization process |
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