齐立群

入学时间：2011级

答辩时间：2014年

论文题目：基于鲁棒优化的交叉口排队溢流控制策略研究

中文摘要

摘要

交叉口是城市道路网络的节点，其交通控制关系到整个城市道路网络交通流运行是否顺畅，随着机动车保有量的增加和交通需求的不断增长，交叉口信号控制优化的重要性愈发突出。定时信号控制是交叉口控制中最基本也是应用最广泛的一种方式。交通流的随机性和交通需求的不确定性，使得定时信号控制交叉口时常发生溢流。本文旨在通过对随机到达情况下交叉口溢流概率的分析，并将溢流概率作为交叉口信号配时的约束条件，同时从排队和车均延误方面考查信号配时的鲁棒性，提出了定时信号控制交叉口新的配时方法，并在此基础上对传统的干线协调控制策略进行了优化。

基于交叉口交通到达具有随机性这一特点，建立了在定时信号控制条件下，车辆最大排队长度的概率模型，之后从概率的角度，提出了随机到达条件下具有普遍适用性的，交叉口排队溢流概率的计算模型。经过分析证明该模型能够较好的反映交叉口的排队溢出状况。

在此基础上，以车均延误为优化目标，提出了在随机到达条件下考虑信号配时鲁棒性模型，之后将溢流作为约束条件，建立了定时信号控制交叉口的配时模型。利用上海市交叉口的实地调查数据对模型进行了验证分析，结果表明模型在应对随机到达时能够表现出较好的稳定性。

论文进一步探讨了在交通需求较大时,协调控制模式下交叉口群所面临的溢流问题。首先，分析了在此条件下交叉口之间车辆运行规律及交通波的传递过程，进而给出了定量计算协调控制相位差的优化模型，以预防溢流的发生，并通过仿真实验证实了模型的控制效果。

最后，对本文研究内容进行了总结。主要研究成果有交叉口排队的概率模型、考虑溢流的鲁棒优化信号配时模型以及高饱和度条件下协调控制相位差的设计方法。同时也归纳了论文的不足和需要进一步研究的内容。

关键词：排队长度概率模型，定时信号控制，溢流控制，鲁棒优化，协调控制策略

英文摘要

ABSTRACT

Intersections are the nodes of the road network. The control of the intersection is related to the efficiency of the road network. As the increase of vehicles and traffic demand, the optimization of signal control becomes more and more important. Fixed-time signal control is the foundation of traffic control and also a widely used means. The uncertainty and the randomness of traffic flow makes fixed-time control suffer unstable traffic delay and spillover occasionally. So, this paper analyzes the probability of spillover causing by random traffic flow, then makes the spillover as a constraint to optimize the traffic control delay of the intersection by a new way called: robust optimization. Then, a new signal timing model has been proposed. Furthermore, we also studied the coordinate control to reduce its risk of spillover.

Considering the randomness of traffic arrival, this paper proposed a probability model to estimate the maximum queue length at fixed-time intersection. Based on this probability model of queue length, we also got a spillover probability model which can be widely implied under random traffic flows. Through careful analysis, we hold that this model can reflect the spillover probability.

Based on the probability model of spillover, we build a fixed-time signal timing model which includes a robust optimization on traffic delay and a constraint on queue spillover. A simulation and an analysis experiment based on field data are conduct to verify the effectiveness of this model. The experiment result shows the model has a stable performance under random traffic flows.

This paper also talks about the spillovers which coordinate control faces under high traffic demand. Firstly, we analyze the operation of vehicles and the shock waves between adjacent intersections. Then, the paper gives a quantitative calculation on the offset which can prevent spillover. The effectiveness of this model is verified by a series of simulation experiments.

At last, a summary is made to summarize all the paper. The main achievements we get are queue spillover probability model; signal timing model based on robust optimization and co is under high saturation. The paper also gives some issues which should be further studied in the future.

殷玮

入学时间：2011级

答辩时间：2014年

论文题目：基于路径状态感知的特殊车辆协同控制技术研究

中文摘要

摘要

特殊车辆协同控制在交通系统控制中正起到越来越重要的作用，其中具有代表性且具有重要社会价值的便是公交精确到站以及紧急车辆的优先通行。这两类控制对城市服务水平有着重要的影响。然而当前的控制策略并不能很好的保障这两类服务。随着交通感知技术及车路协同系统的进一步发展，这两类服务的控制模式也发生了本质的变化。

论文将交通感知技术与车路协同技术进行整合运用于针对特殊车辆（公交车、紧急车辆），针对特殊需求（行程时间短、精确到站，对向影响最小的）的控制中去。在交通状态感知技术支撑下，整合了交通优先控制及车速引导。提出了一套高鲁棒性，既能保障通行需求又对周边车辆影响最小的特殊车辆线性控制算法。

论文前两章对交通感知及协同控制领域的国内外研究进行了梳理，并定位了本论文的研究范围及创新点。第三章对交通感知，特别是基于浮动车的交通状态感知进行了系统研究。并设计和开发了原型系统进行算法测试，利用路侧的视频数据对感知结果进行验证。在第四章进行了基于双向沟通的车路协同控制策略的研究，设计了应用于紧急车辆和公交车的协同控制策略。在第五章对前两章的交通感知及协同控制技术进行了整合，提出了感知与协同控制融合框架并对系统性能进行了分析。在第六章，利用信号机、试验车及通讯设备构建了硬件在环的算法仿真程序，以公交精确到站控制策略为例，进行了现场实验验证，并分析了实验结果。最后在第七章对进一步工作的方向进行了简要的讨论。

基于论文提出的控制算法，公交优先通行请求以及紧急车辆优先通行请求可在统一框架下被讨论。相比讨论单一控制算法，本论文算法的兼容性和可行性更强。论文为未来将交通状态感知引入实际复杂交通控制中去，提供了参考。对信息支撑下的交通精确控制有着指导性作用。同时可为交通感知、信号控制、智能车等相关企业提供方向性的需求建议。

关键词：车速引导、优先控制、交通感知

英文摘要

ABSTRACT

The coordinated controls of special vehicles are playing an important role in the traffic system. And the emergency vehicle preemption and bus schedule adherence are two meaningful and classic services of it, which have close relationship with sevice level of city. Nowadays, current control measures cannot reach the requirements of the services. With the development of CVIS (cooperative vehicle infrastructure system) and traffic status recognition, the modes of the special vehicles control are changing.

A robust path-based control strategy is proposed in this paper, which achieves the special demand and minimizes the impact on the other vehicles. The special vehicles contain buses and emergency vehicles and the special demands include schedule adherence and minimization of travel time.

The first chapter defines the research range and research objective. The second one reviews the past researches at home and abroad in this field. In the chapter 3, traffic status recognition is the key point. And the research focuses on the FCD-based recognition. An original system is developed for the test. And the accuracy of the system is verified by the video datum along the roads. The proposed CVIS-based bidirectional coordinated control strategy is researched in the Chapter 4 for the implement of buses and emergency vehicles. In the chapter 5, the framework regarding to the integration of the CVIS and traffic status recognition is proposed and its efficiency and robustness are analyzed. To verify the final system, a HIL simulation system is established in the Chapter 6. And the bus schedule adherence control strategy is tested in the system and the test results are analyzed. Finally, the further researches are discussed in the Chapter 7.

On the basis of the proposed control strategy, the bus schedule adherence is enhanced efficiently and the emergency vehicle can reach the destination faster. the strategy is verified to be robust and error-tolerant. This paper is meaningful to the integration of the CVIS and traffic status recognition. And the paper analyzes many new demands of the ITS for the vehicle and signal controller manufactories.

Key Words:speed adaptation, priority signal control, traffic status recognition

张岑

入学时间：2011级

答辩时间：2014年

论文题目：基于运营信息的区域公交时刻表优化方法

中文摘要

摘要

较低公交服务水平和巨大的公交投入成为当前城市公共交通系统发展的主要矛盾。如何科学高效的管理公交运营是公共交通发展中亟需解决的问题。科学的公交行车计划是提升运营管理效率的重要方法，同时时刻表编制是其中的基础问题，可谓重中之重。在此背景下，论文以国家自然科学基金《单线路公共汽车运行自适应控制方法研究》以及交通运输部项目《城市公共交通监管平台》为依托，围绕城市公共汽车时刻表编制和发布的相关理论与实现技术展开研究，主要包括公交线路的运营数据采集和处理技术，单线路线路公交时刻表的流程与方法，以及多线路公交时刻表协调优化等内容。

论文在公交时刻表编制理论研究和技术应用综述的基础上，指出了现有研究与应用的可能存在的不足：现有研究中，时刻表编制中未考虑客流和行程时间的随机波动特性，线路协同优化少有考虑对非换乘乘客的影响，关于站点时刻表发布条件的定量分析；实际应用中时刻表编制的参数需要人工输入，无法自动化获取。针对这些问题提出了论文主要研究的切入点。

论文介绍了研究中基础数据采集技术（公交车辆定位（AVL）和公交智能卡（IC））及数据处理方法。通过对历史数据的积累和挖掘能够客观掌握公交车辆运行动态参数，为优化运行计划提供了良好的数据基础。研究提出了随机动态客流需求和运营环境下，同时保证公交的服务水平可靠性、提升企业运营效率、降低运营成本的优化方法。根据这一优化方法，论文研究了线路时刻表优化系统实现所需的关键技术：基于海量数据的客流OD估计,乘客到站时刻分布,公交行程时间分布以及公交运行过程的数值仿真的相关研究。

在上述关键问题研究的基础上，展开对单线路时刻表编制的研究。先对客流和运行时间的数据进行分析，选择基于划分的有序样品聚类Fisher算法，借助于MATLAB平台对数据聚类，得到客流与行程时间对时间的最优分类个数和最优分割方案。在此基础上，在划分的每个时段内进行时刻表优化。研究中先设定公交服务要求，在满足服务可靠性要求和物理设施要求的约束条件下，将发车间隔最大作为目标构建了发车时刻表优化模型。该模型由于考虑了客流和行程时间随机的波动对服务可靠性的影响，以可靠度为约束条件，是一个机会约束规划。采用数值仿真的方式检验服务可靠性的指标。算法中采用了数值仿真模拟，通过反馈优化不断搜索找到最优解。算法中利用了MATLAB上既有的遗传算法工具箱完成模型求解和动态仿真工具箱进行可靠性验证，得到最优发车间隔、时刻表发布站点。

在单线编制的时刻表的基础上，论文展开区域多线路时刻表协调优化研究。论文首先讨论了不同线路间的关联性，分别建立了换乘乘客和非换乘乘客的候车时间模型，以乘客总候车时间最小为目标，以单线路时刻表为输入参数条件，在不改变发车间隔的情况，构建了线路A车时刻表协调优化编制模型，。研究中是用LINGO软件求解整数规划模型，得到最优解。

总结展望，本论文的研究成果在理论层面建立了一套完整的从现代客流和运行数据采集技术应用、单线路公交线路时刻表编制以及多线路时刻表协同优化模型建立、算法实现的公交时刻表编制体系，为工程实践提供理论基础。

关键词：车辆自动定位，公交智能卡，随机波动，数值仿真，时刻表优化，

英文摘要

ABSTRACT

Nowadays, low transit service level and huge cost of public transit are becoming the major contradiction of urban public transport system. Scientific and efficient operation management may be most needed technique in development of public transport. And reasonable schedule is the key method to improve efficiency, and timetable optimization is the basic research content. Based on a National Science Fund Research Project, the thesis focused on the theory and technology related to bus timetable optimization, including data collection and analysis technic, timetable optimization processes and methods of single bus line, coordinated optimization for muti-bus-line system.

Firstly, on the basis of theoretical review on the research and technic of bus timetable optimization, and the deficiency of current study was analyzed. In past study, random fluctuations is not considered in the schedule and muti-line collaborative optimization rarely consider the impact on non-transfer passengers, and there were also few quantitative analysis about timetable release in the sites. In practice, parameters of schedule should be input manually, which means this data can’t be obtained automatically. So according to these problems, the content of this study was determined.

And then this study introduced some data collection technology, such as Automatic Vehicle Location and Intelligent Card. Through analysis on huge historical data and the bus operation rules，the data mining method of obtaining public transportation trip information is studied according to the characters of passenger and public transit routes and the configuration of IC and AVL data. Besides, key technologies, such as OD estimation, passenger arrival distribution, travel time distribution andnumerical simulation.

Based on these key researches, single bus line timetable optimization was studied. First, the passenger flow and the running time data were analyzed, and the Fisher sample clustering algorithm was used, with the help of MATLAB platform, to obtain the optimal segmentation scheme for passenger flow and travel time. And schedule optimization was made in each time period. The bus service requirements, such as constraints of the service reliability and physical facilities, were set first, and optimal models with target function-the maximum interval were established. Since random fluctuation of passenger and travel time is considered and service reliability constraints were added, this is a chance constrained programming problem. To solve this problem，numerical simulation is adopted and through the feedback process optimal solution can be searched. The algorithm makes use of the dynamic simulation toolbox of MATLAB .

Then, based on timetable optimization of single bus line，public transit network timetables optimization are made. This study discusses the relationship between different lines, the waiting time model of transfer passenger and non-transfer passengers are established, then the total passenger waiting time minimum constructed line coordination timetable programming model, with the single line timetable as input parameters, it does not change the interval of each line. Since it is a nonlinear integer programming problem，it can be solved by LINGO software.

Finally，the research was summarized into several conclusion while expectation was made for future work. In theory aspect, this study construct a complete timetable optimization system, including the modern passenger flow and operating data acquisition technology and multi-line timetable optimization algorithm, which provides the theory basis for the practice.

Key Words:automatic vehicle location, intelligent card, stochastic fluctuation, numerical simulation, timetable optimization

史玉茜

入学时间：2011级

答辩时间：2014年

论文题目：考虑速度与行驶轨迹的道路交通平顺性研究

中文摘要

摘要

车辆在行驶过程中受驾驶行为及行驶环境的影响，会频繁的改变行驶速度和行驶轨迹。行驶状态的突变极易诱发交通事故，降低运行舒适性、可靠性和效率，并导致能耗和排放上升。本文提出的道路交通平顺性概念就是一个描述这种行驶状态变化的评价指标。研究针对城市道路机动车间断交通流，将平顺性定义为车辆在一段距离内行驶的过程中，通过每个断面车速的变化程度，不仅包括速度大小的变化，还包括其方向的变化。研究从车辆的行驶速度和行驶轨迹出发，建立了道路交通平顺性的概念体系，提出用四个指标来表征平顺性，它们分别是纵向平顺度、横向平顺度、车辆偏离度和车辆偏离角速度。

研究从交通、道路、管理和其他等方面提出了平顺性的影响因素，包括交通量、交通构成、路网性质、道路线形、路面结构、交通设施、管理法规、驾驶员特征、车辆性能、天气、施工等突发因素等，定性的给出了每种影响因素的作用过程。之后分别从动态交通、道路设施和交通管理三方面，分析了无信号控制条件下，主线交通量变化、不同进出口形式（允许左进左出的进出口、仅允许右进右出的进出口）、进出交通量变化对平顺性的影响机理和作用机制，以及有信号控制条件下，信号优先控制、信号协调控制对平顺性的影响机理和作用机制。研究中使用的道路场景来源于实际道路环境，浙江省慈溪市新城大道南路和江苏省太仓市滨河路-东仓南路交叉口。研究采用了现场实测和计算机微观模拟仿真的方式进行，利用获取到的数据进行平顺性影响因素分析。

研究发现，无信号控制条件下，左进左出交通对主线交通的平顺性影响最大，研究结论可以反作用于交通设计中，设计时慎重选用允许左进左出的进出口形式，以及良好的控制左进左出交通量有利于提高主线交通的平顺性。从交通信号控制角度来看，信号优先控制策略，使纵向平顺度从数值上降低了近60%；协调控制策略，使纵向平顺度平均降低了10%。相比之下，说明信号优先控制方法可作为提高车辆平顺性的重要措施。

平顺性研究可以使交通流的通行更加通畅、安全、环保，为构筑改善平顺性的交通优化技术体系提供理论依据，并可补充完善现有的交通评价体系，具有重要的理论意义与现实意义。

当然平顺性的影响因素远远不止这些，还包括交叉口间距、道路横断面布局、公交停靠站设计等，这些影响因素对平顺性的影响机理可作为下一步工作的方向。

关键词：交通工程，行驶速度，行驶轨迹、平顺性

英文摘要

ABSTRACT

Vehicle frequently changes its speed and running track affected by driving behavior and driving environment in the process of travelling. The sudden changes of travelling state easily cause traffic accident, reduce travelling comfort, reliability and efficiency, and increase energy consumption and emissions. Traffic smoothness proposed in the paper is an evaluation index describing the traveling state of vehicles. The research focuses on the urban road discontinuous traffic. Traffic smoothness means the variation of instantaneous speed when the vehicle is traveling in a distance, not only including the speed number, but also including the speed direction. Traffic smoothness concept system is established in the paper from vehicle speed and running track. There are four indexes using to express traffic smoothness, which are longitudinal smoothness, horizontal smoothness, vehicle deviation angular and vehicle deviation angular velocity.

The influencing factors of traffic smoothness are proposed in the paper in the aspects of traffic, road, management and others, including traffic volume, traffic composition, road network, road alignment, pavement construction, traffic facilities, regulations, driver characteristics, vehicle performance, weather, construction and others. The qualitative influence processes of each factor are concluded in the paper. And the influence mechanism of five factors among is analyzed from three aspects, which are dynamic traffic, road infrastructure and traffic management. The five factors are traffic volume on the main road, different access forms including left-in and left-out access and right-in and right-out access, traffic volume of access under non-signal control, signal priority control and signal coordination control under signal control. The road scenes used in the paper come from the actual road conditions, which are Xincheng Avenue in Cixi City, Zhejing Province and the intersection crossing by Binhe Road and South Dongcang Road in Taicang City, Jiangsu Province. The research adopts actual experiment and computer microcosmic simulation. The data got from the experiment and simulation is used to analyze the influencing factors of traffic smoothness.

The research shows that the left-in and left-out traffic under non-signal control affects the traffic smoothness on the main road most. The conclusion can be

counterproductive in the traffic design which means that carefully selecting left-in and left-out access pattern and favorably controlling the traffic volume of left-in and left-out access can improve the traffic smoothness on the main road. From the view of traffic signal control, signal priority control strategy reduces the longitudinal smoothness by nearly 60%, while signal coordinated control strategy reduce it only by 10%. Compared with each other, signal priority control method is an important measure to improve traffic smoothness.

The research of traffic smoothness can make traffic flow more unobstructed, safer and more environmental friendly. The research provides a theoretical basis for traffic optimization technology system and traffic evaluation system, which represents important theoretical and practical significance.

Well, there are much more factors affecting traffic smoothness, such as intersection spacing, road cross section and bus stop. These factors impact on the traffic smoothness can be the next research in the future.

Key Words:transportation engineering, speed, running track, traffic smoothness

吴翱翔

入学时间：2011级

答辩时间：2014年

论文题目：基于多源数据的信号控制交叉口排队状态感知方法研究

中文摘要

摘要

智能交通运输系统代表着未来交通运输领域发展方向，随着智能交通系统的发展，越来越多的信息采集技术被运用到智能交通领域，人们获得的交通信息数据类型也越来越丰富，在这一背景下，研究如何运用各种类型的交通采集技术提取交通信息，并通过不同数据源的融合来更好地反映客观世界，为人们提供交通管理和控制等决策服务，具有十分重要的理论和现实意义。

信号交叉口排队理论一直是交通工程学较为活跃的研究领域之一。经典的交通流排队理论是建立在道路交通信息采集手段不发达，信息源有限的大背景下的，因此为了得到排队情况，必须经过一系列的理论假设和推导，但是，随着智能交通系统的发展，人们能够获得越来越丰富的实时道路交通信息，智能交通领域也即将进入大数据时代，这使得直接基于数据获取道路交通状态的各种参数（行程时间、延误、排队等等）成为可能，而不需要经过复杂的理论模型假设和推导。在这一大背景下，有必要对多源数据条件下的交通流排队理论进行深入研究。

论文首先对浮动车数据的时空分布特性进行了分析，并对信号交叉口的的交通状态进行了分类界定，在此基础上，研究了基于浮动车数据的信号交叉口交通状态判别方法，并利用实地数据进行了测试。

论文还对不同交通状态下信号交叉口的交通流波动特性进行了分类分析，并给出了相应的排队计算方法，然后基于RFID数据和视频检测数据构建了基于行程时间和延误分析的信号交叉口排队状态感知方法，同样利用实地数据对该方法进行了检验。

最后，论文研究了浮动车数据、RFID数据以及视频检测数据三者的融合方法，提出了基于多源数据融合的排队状态感知方法。实地测试的数据分析结果表明，通过数据融合，可以克服单一数据源在时间和空间尺度上的缺陷，提高了排队状态感知准确率和精度。

关键词：交通状态感知，多源数据，交叉口排队，数据融合

英文摘要

ABSTRACT

Intelligent Transportation System(ITS) represents the future trend of traffic engineering, with the development of ITS, more and more types ofinformation collection technology are used in the area of ITS, the content of traffic information we can get is more and more rich, under this background, in order to provide better decision making services on traffic management and control for us, the study on how to use various types of techniques to extract traffic information, and reflect the objective world better by the fusion of different data sources is very important on theoretical and practical.

The theory of traffic queue on signalized intersection is one of the focus research areas of traffic engineering all the time. Thetraffic information collection technologyis very limited when traditional traffic flow theory is proposed, in order to calculate the queue, we have to make a series of theoretical assumptions, butwith the development of ITS, the content of traffic information we can get is more and more rich, and ITS will get into the era of big data very soon, this makes it possible for us to get the parameters of road traffic state (travel time, delay, queue, etc.) directly, without the use of complex hypothesis theoretical model. In this context, it is necessary for us to make further study on queuing theory of traffic flow under the condition of multi-source data.

Firstly, the time and space distribution characteristics of floating car data are analyzed in this thesis, and based on the analysis of traffic flow’s moving process on the approach of signalized intersections, the paper puts forward a classification method of traffic status on signalized intersections while the relationship between queue length and the capacity of the approach is under consideration, and the algorithm to identify the real-time traffic status on signalized intersections based on floating car data is established at last.To test the effectiveness of this algorithm, a field experiment using floating car data was conducted at an intersection in Nanjing. The test results indicate that the proposed method provides very satisfactory accuracy in application.

The paper brings forward a model to detect the real-time queue length based on RFID detector data and video detection data, which based on the analysis of traffic flow’s shockwave profile on the approach of signalized intersections. The model solves the problem of measuring intersection queue length by exploiting the travel time and queue delay of individual vehicles instead of counting arrival traffic flow in the signal cycle.