近似动态规划方法及其在交通中的应用
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摘要
论文研究了近似动态规划方法及其在交通中的应用,丰富和完善了近似动态规划理论。论文主要研究内容和创新点总结如下：
一、提出了一种近似动态规划网络优化加速算法。在权值调整期间加入前期权值信息,增强了训练的稳定性；使用Steffensen迭代算法进行加速,使网络训练较快地收敛,有效地解决了传统神经网络收敛慢的缺点,在此基础上,给出了一种基于数值计算的近似动态规划改进方法ADHDP(D),仿真结果表明该方法误差稳步下降,没有出现ADHDP方法中振荡的现象,且达到收敛稳定的速度更快。此外,提出了一种权值初始值复合修正法,仿真结果表明,与权值初始值随机设定方法相比,该方法提高了近似动态规划方法的学习成功率；
二、研究了快速路交通流模型参数辨识方法。针对交通流模型的强非线性、不确定性等特点,提出了基于近似动态规划的交通流模型参数辨识算法。该算法具有自学习和自适应的特性,不依赖于被控对象的解析模型,严格的理论推导证明了这种参数辨识方案的收敛性,仿真结果验证了该算法的有效性；
三、研究了快速路短时交通流预测方法。针对指数平滑法缺乏有效的参数选取方法,提出了一种基于近似动态规划方法的自适应单指数平滑法,结合实际交通流数据对指数平滑系数进行优化,使其随预测过程自动更新,从而保证了预测的实时性、准确性。严格的理论推导证明了这种预测方法的收敛性,仿真结果验证了算法的有效性；
四、研究了城市交叉口均衡控制的最优信号配时问题。针对过饱和交叉口提出了排队长度均衡的控制目标,设计了基于排队长度均衡的两相位和三相位绿灯时间近似动态规划控制算法。仿真结果表明基于近似动态规划的控制算法可以根据实时交通车流信息实现绿灯时间的自适应调整,克服了定时控制不能随着流量的变化而分配绿灯时间的缺点。此外,以三相位交叉口最优信号配时为例,讨论了神经网络权值初始值对算法收敛结果的影响；
五、研究了快速路系统中单入口匝道以及多入口匝道基于近似动态规划的控制算法。针对交通流强非线性、不确定性等特点,设计了基于近似动态规化的控制器,避开了交通流建模难的问题。仿真结果表明控制器具有良好的暂态性能,能够适应实时变化的交通状况,平滑交通流,在一定程度上缓解了交通拥堵。
This dissertation focused on some issues on approximate dynamic programming (ADP) and its applications in transportation. The main work and key contributions were summarized as the following:
1. Based on Steffensen's method and former weights'values, a new optimized accelerated algorithm was presented for neural network. On the basis of this new optimized accelerated algorithm, a new ADHDP(Action-Dependent Heuristic Dynamic Programming) method based on former weights'value data (ADHDP(D) for short) was proposed. A detailed analysis was made between the ADHDP and ADHDP(D). Simulation results showed the good performance of this new algorithm. Furthermore, an initial weights compositional method was proposed. Simulation results demonstrated the convergence property is improved effectively in comparison with initial weights randomly preassigned.
2. Considering on that traffic system is a strong nonlinear and uncertain system, an identification method based on ADP was developed to estimate the parameters of the general discrete-time nonlinear traffic flow system. With rigorous analysis, it was shown that the proposed identification scheme, independent of the precise traffic flow model, can guarantee the convergence. A number of simulation results were provided to the efficacy of the proposed approach.
3. An adaptive single-exponent smoothing based on ADP was put forward to select the smoothing coefficient dynamically. With rigorous analysis, it was shown that the proposed predictionscheme can guarantee the convergence. The simulation results verifid the effectiveness of the proposed algorithm.
4. The optimal signal timing problem was investigated for an urban intersection.Based on the technique ADP, the optimal signal timing controllers were proposed for the two-phase intersection and three-phase intersection, respetively. The simulation examples showed that the control algorithm based on ADP can allocate green time rationally and achieve the equilibrium of queue length. Furthermore, taking the optimal signal timing of three-phase intersection for example, simulations verifid that the initial weights affect the convergence result.
5. Based on the technique of ADP, the problems of local ramp and coordinated ramp metering were discussed. The ADP controller was designed to avoid the difficulty of traffic flow modeling. Simulation results demonstrated the new controllers have better transient response, prevent congestion and increase traffic throughput.
一、提出了一种近似动态规划网络优化加速算法。在权值调整期间加入前期权值信息,增强了训练的稳定性；使用Steffensen迭代算法进行加速,使网络训练较快地收敛,有效地解决了传统神经网络收敛慢的缺点,在此基础上,给出了一种基于数值计算的近似动态规划改进方法ADHDP(D),仿真结果表明该方法误差稳步下降,没有出现ADHDP方法中振荡的现象,且达到收敛稳定的速度更快。此外,提出了一种权值初始值复合修正法,仿真结果表明,与权值初始值随机设定方法相比,该方法提高了近似动态规划方法的学习成功率；
二、研究了快速路交通流模型参数辨识方法。针对交通流模型的强非线性、不确定性等特点,提出了基于近似动态规划的交通流模型参数辨识算法。该算法具有自学习和自适应的特性,不依赖于被控对象的解析模型,严格的理论推导证明了这种参数辨识方案的收敛性,仿真结果验证了该算法的有效性；
三、研究了快速路短时交通流预测方法。针对指数平滑法缺乏有效的参数选取方法,提出了一种基于近似动态规划方法的自适应单指数平滑法,结合实际交通流数据对指数平滑系数进行优化,使其随预测过程自动更新,从而保证了预测的实时性、准确性。严格的理论推导证明了这种预测方法的收敛性,仿真结果验证了算法的有效性；
四、研究了城市交叉口均衡控制的最优信号配时问题。针对过饱和交叉口提出了排队长度均衡的控制目标,设计了基于排队长度均衡的两相位和三相位绿灯时间近似动态规划控制算法。仿真结果表明基于近似动态规划的控制算法可以根据实时交通车流信息实现绿灯时间的自适应调整,克服了定时控制不能随着流量的变化而分配绿灯时间的缺点。此外,以三相位交叉口最优信号配时为例,讨论了神经网络权值初始值对算法收敛结果的影响；
五、研究了快速路系统中单入口匝道以及多入口匝道基于近似动态规划的控制算法。针对交通流强非线性、不确定性等特点,设计了基于近似动态规化的控制器,避开了交通流建模难的问题。仿真结果表明控制器具有良好的暂态性能,能够适应实时变化的交通状况,平滑交通流,在一定程度上缓解了交通拥堵。
This dissertation focused on some issues on approximate dynamic programming (ADP) and its applications in transportation. The main work and key contributions were summarized as the following:
1. Based on Steffensen's method and former weights'values, a new optimized accelerated algorithm was presented for neural network. On the basis of this new optimized accelerated algorithm, a new ADHDP(Action-Dependent Heuristic Dynamic Programming) method based on former weights'value data (ADHDP(D) for short) was proposed. A detailed analysis was made between the ADHDP and ADHDP(D). Simulation results showed the good performance of this new algorithm. Furthermore, an initial weights compositional method was proposed. Simulation results demonstrated the convergence property is improved effectively in comparison with initial weights randomly preassigned.
2. Considering on that traffic system is a strong nonlinear and uncertain system, an identification method based on ADP was developed to estimate the parameters of the general discrete-time nonlinear traffic flow system. With rigorous analysis, it was shown that the proposed identification scheme, independent of the precise traffic flow model, can guarantee the convergence. A number of simulation results were provided to the efficacy of the proposed approach.
3. An adaptive single-exponent smoothing based on ADP was put forward to select the smoothing coefficient dynamically. With rigorous analysis, it was shown that the proposed predictionscheme can guarantee the convergence. The simulation results verifid the effectiveness of the proposed algorithm.
4. The optimal signal timing problem was investigated for an urban intersection.Based on the technique ADP, the optimal signal timing controllers were proposed for the two-phase intersection and three-phase intersection, respetively. The simulation examples showed that the control algorithm based on ADP can allocate green time rationally and achieve the equilibrium of queue length. Furthermore, taking the optimal signal timing of three-phase intersection for example, simulations verifid that the initial weights affect the convergence result.
5. Based on the technique of ADP, the problems of local ramp and coordinated ramp metering were discussed. The ADP controller was designed to avoid the difficulty of traffic flow modeling. Simulation results demonstrated the new controllers have better transient response, prevent congestion and increase traffic throughput.
引文
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