rhodes gardner systems rhodes: fundamental principles larry head, gardner systems pitu mirchandani,...
TRANSCRIPT
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RHODES
RHODES:Fundamental Principles
Larry Head, Gardner Systems
Pitu Mirchandani, University of Arizona
TRB Annual Meeting 2000Workshop on Adaptive Signal Control Systems
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RHODES
Overview
• Basic Philosophy of RHODES• Control Variables• Data Sampling, Filtering and Smoothing• Phasing Flexibility• Measures of Effectiveness• Oversaturated Conditions• Preemption/Priority
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RHODES
Basic Philosophy of RHODES
• to proactively respond to and utilize the natural stochastic variations in traffic flow with the appropriate time scale
• to operate within the framework of North American traffic signal controllers
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RHODES
System Architecture - Hierarchical
Destinations/Origins
Network LoadControl
Network FlowControl
IntersectionControl
Traffic SignalActivation
Detectors and Surveillance
Actual Travel Behavior and Traffic
NetworkLoads
Target Timings
ActualTimings
ControlSignal
Vehicle Flow Prediction
Scenario
Origins/Destinations
Current Capacities, Travel Times,Network Disruptions
(seconds)
(minutes)
(minutes/hours/days)
Platoon Flow Prediction
Network LoadEstimator/Predictor
Network FlowEstimator/Predictor
Intersection FlowEstimator/Predictor
Measurements
y(t)
ATIS
Historical/Infrastructure Data
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RHODES
Control Variables
• Structural (static)– Geometric Description of Network– Location/Type of Detectors
• Traffic Dynamics Parameters (adaptive)– Saturation Flow, Turning Proportions…
• Signal Control (scheduled)– Phasing, Minimum, Maximum, Pedestrian,….
• Optimization Parameters
(interpreted to mean: Model and User Supplied Parameters)
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RHODES
Control Variables
• Structural– Geometric Description
• Link-node representation
• Lanes, turning pockets, etc.
• Lane Channelization
• Lane Utilization
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RHODES
Control Variables
• Structural– Detectors
• Location (e.g. 224’ upstream - Passage)
• Type– Passage (counting)
– Presence (stop bar)
– Detector Movement Assignment– Prediction Feed Assignment
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RHODES
Control Variables• Traffic Dynamics Parameters
– Turning Percentage• Dynamic using OD Estimation (currently static)
– Queue Discharge Rates - by movement/phase• Saturation Flow Rate
• Dynamic using Queue Estimate and Presence Detectors
• Start-up Lost Time
– Link Free Flow Speed• Free Flow Corrected for Volume/Occupancy
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RHODES
Control Variables
• Signal Control Parameters– Phase (optimization stage)
• Allowable movements
• Skipping
• Minimum Green
• Maximum Green (optional)
• Amber & Red Clearance Times
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RHODES
Control Variables
• Optimization Parameters– Target Phase Evaluation Order
• ABCDACDE...
– Horizon• User-definable, now using 45 seconds
– Resolution• 1 second, 2 second, etc…….
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RHODES
Data Sampling, Filtering and Smoothing (data characteristics)• Data Sampling
– data resolution = 1/second– detector signals
• passage (count of falling edges)
• presence (state of detector just before end of second)
– Signal state (phase, interval)
• Filtering = NONE
• Smoothing = NONE
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RHODES
Phasing Flexibility
• Number of Phases– Any number of stages
• Flexibility in Phase Order– for any optimization - select desired phase order
A B C D E B
A B D B E C
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RHODES
Phasing Flexibility
• Currently assumes a fixed phase order– rolling horizon =ABCDEA, BCDEAB,…..
• Phase Skipping allowed– user selectable– decisions = {0, min, min+1, ….., max*}
• for each phase
*optional
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RHODES
Measures of Effectiveness
• Internal to RHODES– Queue Size (number of vehicles) Estimate– Predicted Link Flow Profiles– Predicted Delay
• based on current queue and predicted arrivals
• External– Queue Size – Predicted Arrival Profile
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RHODES
Special Features for Oversaturated Conditions
• Consideration for Queue Spillback– adjust departure rate for movements with
upstream queue spillback– delay “discounting” for movements where
excessive downstream delay will occur
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RHODES
Transit Priority
• Used coordination method – Progression band
• Priority Band for Detected Buses– Near upstream detection– Far side stations– Conditional on headway lateness
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RHODES
Fire Priority
• Not in current RHODES model
• Potential route priority– Using coordination method (bandwidth)
• Preemption provided by underlying controller logic – Ignore the adaptive control commands when a
preemption event is timing
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RHODES
Arterial/Network
• Designed for both
• Most experience/experimentation on arterials
• Optimization horizon (approx. 45 secs.)– need to populate predictions– travel time between intersections defines the
horizon over which optimization has data
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RHODES
END SESSION 1
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RHODES
RHODES:Equipment Requirements
Larry Head, Gardner Systems
Gary Duncan, Econolite Control Products
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RHODES
Overview System Architecture Data requirements Communication requirements Local Controllers Central Hardware requirements Installation cost ranges Operations & Maintenance cost ranges
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RHODES
Architecture
• RHODES–Hierarchical
• Network Loading
• Network Flow Control
• Management System
–Distributed• Local Intersection Control
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RHODES
System Architecture
ATMS
Servers
Workstation
Workstation
Field Communications
LAN
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RHODES
Architecture• Traffic Adaptive Signal Control is an added
capability of an ATMS• RHODES has been designed to operate as an
extension of existing ATMS systems• Requirements are for
– Additional Communications– Additional Detection– Additional Processing
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RHODES
Architecture
ATMS
Servers
Workstation
Workstation
Field Communications
LAN
Additional Detection
Additional Communications
Additional Processor
**
*
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RHODES
Data Requirements(Number, Type and Location of Sensors)
• Observability– need to be able to observe vehicle flows and
flow dynamics• Predictability
– need to be able to predict vehicle flows over a prediction horizon of interest
• Flexibility– need to accommodate wide range of detector
locations
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RHODES
Data Requirements(Number, Type and Location of Sensors)
(i) (ii)
(iii)
(iv)
di
dA
di
dA
di
dA
di
dA
B B
B B
t t
t t
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RHODES
Data Requirements(Number, Type and Location of Sensors)
Prediction Generators
Prediction Generators
Prediction Generators
PredictionReceiver
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RHODES
Data Requirements(Number, Type and Location of Sensors)
• Detectors– Passage (upstream)
• Count of number of passed vehicles (trailing edge)
• Used for flow prediction and queue estimation
– Presence (stop bar)• State of detector at end of second
• Used for queue estimation– IF(presence = 0) queue =0
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RHODES
Communications Requirements(Architecture, Polling Time, Bandwidth)
• Architecture– Peer-to-Peer Communications– Central-Intersection Communications
• Polling Time (options)– Discrete Event– 1 message/second
• Bandwidth– depends on architecture
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RHODES
Communications Requirements(Architecture, Polling Time, Bandwidth)
• Architecture - Alternatives– Token Ring– Ethernet– Point-to-Point, Tree
• Technology– Field Hardened– $$$
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RHODES
Peer-to-Peer Communications: Tucson and Seattle
Central Management System
Communications Hub
Intersection Controllers(2070 with MEN CPU)
Optelecom 9712 Modem Pairs:3 - 9600 Baud RS 2321 - 19.2K Serial/PTZ1 - Full Motion Video1 - 1200 Baud Voice
Figerlign Mux:1 - T1 Data (6 - RS-232)9 - Full Motion Video
All Communications are over single mode fiber.The link between the communications hub and the central management system in Seattle is TBD.
Figure 1: Peer-to-Peer Communications Architecture for Tucson and Seattle.
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RHODES
Communications Requirements(Architecture, Polling Time, Bandwidth)
• Bandwidth (approx.)– central = 150 bytes/sec
• hub-central (8 intersections) = 1200 *10 (bits/byte)
• total = 12,000 bps– peer-to-peer packet:
• overhead (header, trailer, etc) 10 bytes• data (predictions, signal) + 30 bytes• packet (estimated total) = 40 bytes• 4 packets/sec = 160 bytes/sec• central + 150 bytes/sec• total = 310 *10 = 3100
– Recommend 19.2Kbps for Central, – 9600 bps for peer-to-peer
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RHODES
Hardware Requirements(Central, Intermediate Field, Local Processor)
• Central– PC-based traffic server (e.g. iconsTM)– Serial Communications (e.g. Rocket Port)
• Intermediate Field– Field Hardened PC *+ Serial Comm
• Local Processor (options)– 2070 with VME Co-processor– standard controller+Co-processor
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RHODES
Installation Cost Ranges
• Difficult to estimate– Project dependent– Architecture dependent
• Several projects estimated in the range of $45,000 - $50,000 per intersection including hardware + engineering
• License: The University of Arizona (approx. $500/intersection)
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RHODES
O&M Cost Ranges
• Incremental cost based on additional hardware (including detection) and software
• Cost savings based on improved signal timing