Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

VCCA-2011
Mt gii php thit k h thng n giao thng thng minh
A method for smart traffic light control system design
Nguyn Ch Ngn
Trng i Hc Cn Th
e-Mail: ncngon@ctu.edu.vn

Tm tt
Nghin cu ny nhm mc tiu pht trin gii thut
iu khin h thng n giao thng cho mt giao l,
vi chu k n tn hiu ty thuc vo tnh trng xe lu
thng trn hai tuyn ng quan st c bi 2
camera. Gii thut c lng lu lng xe v 25 lut
iu khin m c xy dng quyt nh thi gian
ca chu k n xanh k tip cho tuyn ng tng
ng. Hnh nh thu c t camera s c phn mm
m phng gi lp kim chng gii thut iu
khin. Kt qu m phng cho thy tuyn ng no
c lu lng xe ln hn th chu k n xanh ca
tuyn ng di hn v ngc li. Chu k n
xanh ti a l 782 giy v ti thiu l 182 giy,
tng ng vi trng hp lu lng xe trn 2 tuyn
ng chnh lch nhau 4 ln.
Abstract: This study aims to develop a traffic lights
control algorithm for a crossroads with its signals
depend on traffic flow situation acquired from two
cameras observing two roads. An algorithm for traffic
density estimating and 25 rules of a fuzzy controller
are developed to determine the next green signal
period. Images captured from cameras are generated
by simulation software to verify the control algorithm.
Simulation results indicate which road has higher
traffic flow has longer green signal period and
reverse. The maximum and minimum periods are
correspondently 78 2 seconds and 18 2 seconds in
case the traffic flow of one road is 4 times higher than
the other one.
Ch vit tt
ODA Official Development Assistance
D1 Tuyn ng 1
D2 Tuyn ng 2
MatDoXeD1 Mt xe tuyn ng 1
MatDoXeD2 Mt xe tuyn ng 2
1. Gii thiu
Hin trng h thng giao thng cng cng nc ta
cha c pht trin tt dn n s gia tng nhanh
chng phng tin xe gn my, nhng nm gn y
vn ch tc giao thng cc tuyn ng huyt
mch ca cc thnh ph ln l iu khng th trnh
khi. Trong khi , hu ht cc h thng n tn hiu
giao thng nc ta hin nay hot ng da trn
nguyn tc nh thi, vi chu k tt m n xanh-
c thit lp c nh cho c 2 tuyn ng. iu ny
t ra km hiu qu khi cc phng tin lu thng trn
hai tuyn ng c s chnh lch. Lng xe trn
tuyn ng c lu lng cao s tch ly theo thi
gian, l mt trong nhng nguyn nhn c bn dn n
tc nghn. iu ny khng ch gy lng ph v thi
gian, nhin liu m cn nh hng xu n sc khe,
tm l ngi dn v mi trng sinh thi.
cc quc gia tin tin trn, gii php a ra l
lp t cc h thng camera t ng iu tit giao
thng ti cc giao l trng yu. Trong qu trnh pht
trin h thng kim sot giao thng, c rt nhiu
cng b v vic nghin cu thng qua m phng v
thc nghim nhm ti u ha cc b iu khin n
tn hiu. Trong , cc nghin cu in hnh v vic
s dng k thut x l nh kt hp vi iu khin m
(fuzzy control) n tn hiu c p dng thnh
cng [1-4]. Cc h thng ny c gi rt cao, v d,
mt h thng n giao thng thng minh thng mi
s dng my tnh cng nghip v cc camera gim st
c gii thiu bi AdvanTech ln n hng t ng
cho mi cht giao thng [5].
nc ta, hu ht cc h thng n giao thng
hin i u c nhp khu vi gi thnh cao v
km theo hng lot cc vn cn khc phc, do
chng ta cha lm ch c cng ngh. Chng hn,
lp t 121 tr n giao thng do Ty Ban Nha sn
xut, trong d n Tng cng nng lc giao thng
Thnh ph H Ch Minh, cn n 3,5 triu USD.
Tuy nhin, cha y mt nm s dng, chng ta
phi nng s tin khng l ny, do cc tr n giao
thng trn khng hot ng c [6]. Nm 2007, S
Giao Thng Cng Chnh Thnh ph H Ch Minh
trin khai lp t 48 cht n gn cm bin iu
tit giao thng t ng, bng ngun vn ODA [7].
Tuy vy, mi sau mt thi gian ngn s dng, cc
cht n giao thng ny b bnh nan y. y Ban
Nhn Dn thnh ph H Ch Minh phi chi hn 8.456
USD mi chuyn gia nc ngoi chn bnh [8].
R rng lm ch cng ngh n giao thng l nhu cu
thit thc m x hi v ang t ra.
Nghin cu ny hng ti vic kim chng gii
php thit k n giao thng thng minh da trn
cng ngh x l nh v k thut iu khin m. H
thng dng 2 camera hng ngoi quan st 2 tuyn
ng ca mt giao l. Tuyn ng no c lu
lng xe cao hn th chu k n xanh tng ng cho
tuyn ng s di hn tuyn ng cn li.
639
Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

VCCA-2011
2. Phng tin v phng php
2.1 M t h thng
Nguyn l ca h thng n giao thng thng minh
c m t trn hnh H.1. Tnh trng xe lu thng
trn 2 tuyn ng thu t 2 camera c truyn v
my tnh. Phn mm x l nh trn my tnh s c
lng lu lng xe trn mi tuyn ng v cung cp
d liu tng ng cho mt b iu khin m. Ty
thuc vo lu lng xe ti thi im quan st, b iu
khin m s quyt nh thi gian ca chu k n xanh
k tip. Thi gian ny c truyn t my tnh xung
mch kim sot hin th n tn hiu. kim chng
gii thut iu khin, hnh nh thu c t camera s
c phn mm m phng to ra vi lu lng xe
bin thin mt cch ngu nhin.

H. 1 Nguyn l hot ng ca h thng n giao thng

a) nh gc b) Lm ni ng bin

c) Xc nh s ng cong kn c) Phn on nh
H. 2 So snh mt s kiu x l nh c bn
2.2 Gii thut c lng lu lng xe
Thc nghim trn mt s gii thut x l nh c bn
nh lm ni ng bin, xc nh s ng cong kn
v phn on nh (hnh H.2) cho thy, nu tin hnh
m cng chnh xc s lng xe t hnh nh chp
c bao nhiu th cng mt thi gian tnh ton tng
ng by nhiu. iu ny lm cho gii thut x l nh
tr nn chm chp v khng p ng c yu cu v
thi gian thc trong iu khin chu k n tn hiu,
c bit nhng chu k ngn. Ngoi ra, hn ch v
thi gian chp nh v truyn d liu v my tnh cng
l yu t i hi phi gim thi gian x l nh. Do
vy, nghin cu ny xut mt gii thut nhanh hn
c lng tng i lu lng xe. Gii thut ny
cn chp lin tip 2 nh tnh trng xe ang dng trc
n ca mt tuyn ng. nh th nht c chp
sau khi n c bt ln 5 giy; nh th 2 c
chp cch nh th nht 5 giy tip theo. Bng cch
chp nh th, nh th hai s bao gm ton b s xe
ang ch trc n c trong nh th nht cng vi
s lng xe va chy n n trong 5 giy tip
theo. Thng tin v s khc bit gia nh th nht v
nh th hai l c s xc nh lu lng xe.
640
Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

VCCA-2011
Vn by gi l so snh s khc bit gia nh
chp ln th nht v nh chp ln th hai. S khc
bit gia hai nh ny thc cht khng phi l lu
lng xe trn ng, nhng n cha thng tin v s
thay i lu lng xe ti thi im quan st, do vy,
c gi tt l l lu lng xe. Hnh nh thu c t
camera sau khi c chuyn sang mc nh xm v p
dng thut ton lc trung v kh nhiu, s c
chia thnh tng khi c kch thc (10x10) im nh.
Vi phn gii (320x240) im nh, hnh nh thu
c t camera c chia lm 768 khi. so snh
s khc bit gia hai khi, ta da vo cng sng
trung bnh ca khi . Gi I
k
l cng sng ti
im nh th k, th cng sng trung bnh ca khi
nh kch thc (10x10) c xc nh nh (1).
100
I
I
100
1 k
k
tb

=
=

(1)

Vic p dng phng php so snh cng sng
trung bnh ca nh lm cho gii thut c lng b
hn ch ch ph thuc vo iu kin thi tit lc ly
mu nh. V d, nh chp ban ngy s c cng
sng khc vi nh chp hng ngoi t ban m, mc
d h thng c p dng mt s k thut iu chnh
tng gim sng ca nh. Do vy, trong bc pht
trin k tip, nghin cu ny s kt hp thm cc cm
bin quang c th iu chnh ngng sng ca nh
mt cch linh hot.
Gii thut c lng lu lng xe thng qua vic
xc nh s khc bit v cng sng trung bnh
gia 2 khi nh, p dng cho ton bc nh ca 2 nh
tng ng, c tm tt nh (2).
end
end
1; MatDoXe MatDoXe
3 - (n)
tb_anh2
I - (n)
tb_anh1
I
or 3 (n)
tb_anh2
I - (n)
tb_anh1
I if
768 : 1 n for
0; MatDoXe
+ =
<
>
=
=

(2)

Mt minh ha kt qu ca gii thut c lng lu
lng xe c trnh by trn bng B.1. trng hp
th nht, s lng xe tham gia giao thng khng
nhiu, nn gii thut c lng cho kt qu v s
khc bit gia hai nh l 23 khi. Trong trng hp
th hai, s lng xe tham gia giao thng nhiu hn
trng hp th nht, nn s khc bit gia hai nh l
ln hn, v th gii thut c lng cho kt qu l 257
khi khc bit.
B.1 Minh ha kt qu c lng lu lng xe
nh chp ln 1 nh chp ln 2 Lu lng

23

257
641
Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

VCCA-2011
Thc nghim cho thy gii thut ny chy nhanh
hn khong 4 ln so vi vic m chnh xc s lng
xe. Mc d, thng tin thu c khng cho chng ta
bit v s lng xe tht s, nhng n lin quan n
lu lng xe ang lu thng trn ng. S d c th
chn gii php c lng tng i ny l v chng ta
c th tn dng c u im ca b iu khin m
dng xc nh chu k n xanh. u im l b
iu khin m c th a ra quyt nh chnh xc t
thng s u vo khng r rng nh th ny.
2.3 Thit k b iu khin m
Nhim v ca b iu khin m l quyt nh chu k
n xanh tip theo da vo lu lng xe c lng
c trn 2 tuyn ng. Ng vo v ng ra ca b
iu khin m c thit k nh hnh H.3.

H. 3 Ng vo-ra ca b iu khin m
y, lu lng xe trn tuyn ng D1
(MatDoXeD1) v trn tuyn ng D2 (MatDoxeD2)
c gi tr vt l bin thin trong [0, 768] khi, c
m ha thnh 5 tp m chnh tc bng thc nghim
vi phng php th v sai, gm: RatVang, Vang,
TrungBinh, Dong v RatDong nh trn hnh H.4a.
ng vi mi gi tr vt l ca lu lng xe m gii
thut c lng cung cp, ta c ph thuc tng
ng ca ng vo b iu khin m xc nh theo (3).
Tng t, thi gian n xanh tuyn ng D1
(ThoigiandenxanhD1) v thi gian n xanh tuyn
ng D2 (ThoigiandenxanhD2) c gi tr vt l bin
thin trong [15, 80] giy, c m ha thnh 5 tp m
chnh tc: Ratngan, Ngan, TrungBinh, Dai v Ratdai,
hnh H.4b. Bc pht trin tip theo ca nghin cu
ny, c l cn n mt gii thut thng minh iu
chnh cc hm lin thuc ca cc bin vo/ra.
( )
( )
( )
( )
( )
( )

=
MatDoXe
RatDong
MatDoXe
Dong
MatDoXe
TrungBinh
MatDoXe
Vang
MatDoXe
RatVang
MatDoXe MatDoXe

(3)

Ratdai D2 den xanh gian Thoi
Ratngan D1 den xanh gian Thoi
RatDong MatDoXeD2 RatVang MatDoXeD1
=
=
= =
AND THEN
AND IF

(4)

B lut iu khin m c thit lp qua thc
nghim gm 25 lut, nh bng B.2. Mt lut iu
khin c th c minh ha nh (4).
0 100 200 300 400 500 600 700
0
0.2
0.4
0.6
0.8
1
MatDoXe D1/D2
D
o

p
h
u

t
h
u
o
c

(
1
0
0
%
)
RatVang Vang TrungBinh Dong RatDong

a) Hm lin thuc biu din lu lng xe trn 2 tuyn ng
20 30 40 50 60 70 80 90
0
0.2
0.4
0.6
0.8
1
Thoi gian den xanh D1/D2 (s)
D
o

p
h
u

t
h
u
o
c

(
1
0
0
%
)
TrungBinh Dai Ratdai Ngan Ratngan

b) Hm lin thuc biu din thi gian n xanh cho 2 tuyn ng
H. 4 M ha ng vo v ng ra ca b iu khin
p dng c ch suy din m MAX-MIN v gii
m theo phng php im trng tm, vi b lut
iu khin c xy dng nh bng B.2, mt phng
m tng quan gia lu lng xe trn 2 tuyn ng
v thi gian n xanh tng ng c th hin nh
hnh H.5. Hai mt phng m ny i xng, chng t
lut iu khin n xanh ca hai tuyn ng l ging
nhau. Ngoi ra, lu lng xe trn tuyn ng no
ln hn th thi gian n xanh cho tuyn ng di
hn v ngc li.

H. 5 Mt phng m n xanh ca 2 tuyn ng
B.2 Lut iu khin
D1/D2
RatVang Vang T.Binh Dong RatDong
RatVang
T.Binh
T.Binh
Ngan
Dai
Ngan
Dai
Ratngan
Ratdai
Ratngan
Ratdai
Vang
Dai
Ngan
T.Binh
T.Binh
Ngan
Dai
Ratngan
Dai
Ratngan
Ratdai
T.Binh
Dai
Ngan
Dai
Ngan
T.Binh
T.Binh
Ngan
Dai
Ngan
Dai
Dong
Ratdai
Ratngan
Ratdai
Ngan
Dai
Ngan
T.Binh
T.Binh
Ngan
Dai
RatDong
Ratdai
Ratngan
Ratdai
Ratngan
Dai
Ngan
Dai
Ngan
T.Binh
T.Binh
642
Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

VCCA-2011
B.3 Kt qu thc nghim
(%) 100
x
2 MatDoXeD
1 MatDoXeD

Thi gian
n xanh
D1 (s)
Thi gian
n xanh
D2 (s)
Ghi ch
25 76 2 18 2 D1 = 4D2
33,33 71 2 26 2 D1 = 3D2
50 53 2 32 2 D1 = 2D2
66,67 47 2 36 2

D1 = 1,5D2
100 45 2 45 2 D1 = D2
150 36 2 47 2 D2 = 1,5D1
200 33 2 54 2 D2 = 2D1
300 25 2 72 2 D2 = 3D1
400 18 2 77 2 D2 = 4D1
3. Kt qu v tho lun
Gii php thit k h thng n giao thng thng
minh c kim chng trn chng trnh hnh m
phng vi giao din cho trn hnh H.6, ng vi 9
trng hp, bao gm trng hp lu lng xe ca 2
tuyn ng l nh nhau v cc trng hp lu lng
xe trn 2 tuyn ng tng ng chnh lch nhau ln
lt l 1,5 ln, 2 ln, 3 ln v 4 ln. Trong mi trng
hp, php th c thc hin 50 ln. Nh vy, tng
cng c 450 thc nghim c tin hnh.
Kt qu tng ng cho trn bng B.3. Kt qu ny
cho thy, khi s phng tin lu thng trn 2 tuyn
ng gn bng nhau th thi gian n xanh ca 2
tuyn ng ch chnh lch nhau trong khong t 2
giy n 4 giy. Khi lu lng xe c s chnh lch th
tuyn ng no c nhiu phng tin hn, thi gian
n xanh s di hn. Thi gian n xanh ti a l
782 giy v thi gian ti thiu l 182 giy ng vi
trng hp lu lng xe ca tuyn ng ny nhiu
gp 4 ln tuyn cn li. Ngoi ra, kt qu cng cho
thy vai tr ca b iu khin m i vi hai tuyn
ng l gn ging nhau. iu ny l mt thun li
cho qu trnh lp t, nu h thng c th trin khai
trong thc t.

H. 6 Giao din chng trnh m phng h thng n giao thng thng minh
4. Kt lun v ngh
Vic tn dng u im ca b iu khin m l c th
ra quyt nh chnh xc t cc thng tin u vo
khng r rng, nghin cu ny pht trin c
mt gii thut c lng tng i lu lng xe lu
thng trn ng. Thng tin v lu lng xe c xc
nh t hnh nh do cc camera hng ngoi cung cp,
l c s b iu khin m quyt nh v vic thay
i chu k n tn hiu linh hot theo tnh trng xe lu
thng trn ng. Bng vic xy dng chng trnh
m phng cc phng tin lu thng, b iu khin
m c kim nghim v t ra l mt b iu
khin c kh nng p ng nhanh chng v hiu qu
i vi bi ton iu khin n tn hiu giao thng.
bc pht trin k tip, mt s gii thut thng
minh s c xem xt trong vic ti u ha b iu
khin m; vic quyt nh ngng sng trung bnh
ca nh cng s c nghin cu iu chnh thch
nghi vi iu kin thi tit hin hnh v cui cng l
vic th nghim thc t. Vic pht trin ng dng cho
nghin cu ny l hon ton kh thi.
643
Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

VCCA-2011
Cm n
Tc gi chn thnh cm n cc em sinh vin Khoa
Cng Ngh, Trng i Hc Cn Th cng hin
nhiu cng sc, sng to trong vic xy dng m
hnh, cng c m phng, trong cc lun vn tt
nghip ca mnh di s hng dn trc tip ca tc
gi, tng bc hon thnh nghin cu ny.
Ti liu tham kho
[1] Lin, H., K.M. Aye, H.M. Tun, Theingi and Z.M.
Naing: Design and Construction of Intelligent
Traffic Light Control System Using Fuzzy
Logic, Proc. AIP Conf., Vol. 1052, pp. 237-239,
2008.
[2] Wiering M., J.v. Veenen, J. Vreeken and A.
Koopman: Intelligent Traffic Light Control,
Technical report UU-CS-2004-029, Utrecht
University, The Netherlands, 2004.
[3] Tan K. K., M. Khalid and R. Yusof: Intelligent
Traffic Lights Control By Fuzzy Logic,
Malaysian Journal of Computer Science, Vol. 9
No. 2, pp. 29-35, 1996
[4] Kulkarni, G.H.; Waingankar, P.G: Fuzzy logic
based traffic light controller, Proc. IEEE Conf.
ICIIS 2007, Issue 9-11 Aug. 2007 pp.107 110.
[5] AdvanTech: Digital Traffic Light Detection
System, a ch:
http://www.advantech.gr/Network/applications.a
spx-doc_id=%7B5DBAC008-3DCF-435A-
A472-CDA6D292CB6.htm
[6] Ngc n: n tn hiu giao thng mi: Phi
nng 3,5 triu la!, Bo Tui Tr, s ra
21/12/2004.
[7] L M: Gn 50 cht n giao thng c lp h
thng cm bin, Bo Dn Tr, s ra ngy
17/12/2007.
[8] nh Nguyt v Thu Hng: 48 n tn hiu giao
thng mc chng nan y, Bo Ngi Lao
ng, s ra ngy 20/10/2008.
Nguyn Ch Ngn nhn bng K s
in t ti Trng i Hc Cn
Th nm 1996, bng Thc s K
thut in t ti Trng i Hc
Bch Khoa, i Hc Quc Gia Tp.
H Ch Minh nm 2001, v nhn
bng Tin s K thut iu khin ti
Trng i Hc Tng hp Rostock,
CHLB c nm 2007.
Tin s Nguyn Ch Ngn tham gia
ging dy ti Trng i Hc Cn Th t nm 1996 n
nay. Hin anh ang l Ging Vin Chnh thuc B mn T
ng Ha, Khoa Cng Ngh; gi chc v Trng Phng
Th Nghim iu Khin Qu Trnh, Gim c Trung Tm
in in T v Ph Trng Khoa Cng Ngh, Trng
i Hc Cn Th.


644