Fuzzy logic
Intelligent traffic light control system & Robot car
Authors:
C.M.Pradesh & K.Ram mohan
ECE (III) year.
Sri Venkateswara College of Engineering &Technology
Thiruvallur-631203
C.M.Pradesh
S/o C.Mayan
No: 2/1,8th street, Vaishnavi nagar,
Avadi, Chennai-600109.
Contact number: 9677248629
Email:cm.pradesh@gmail.com
ABSTRACT:
In this paper we discuss
1. The implementation of an intelligent traffic lights control
system using fuzzy logic technology which has the capability of
mimicking human intelligence for controlling traffic lights. The
control of the traffic lights using both conventional fixed-time and
fuzzy logic controllers can be simulated in the software.
2. The implementation of an Artificial intelligence robot car
designed with artificial neural network, fuzzy logic controllers
and some other peripherals.
Keywords- Traffic light control system; Fuzzy logic
controller; Artificial neural network; Robot car
INTRODUCTION:
The monitoring and control of city traffic is
becoming a major problem in many countries. With the ever
increasing number of vehicles on the road, the Traffic
Monitoring. Authority or the Transport Ministry as the
authority is known here in India has to find new ways or
measures of overcoming such a problem. The measures taken
K.Ram mohan
S/o R.Kamaraj
No: 32/70, Cholembedu road,
Thirumullaivoyal, Chennai-600062.
Contact number: 9043363789
Email:ram1423@gmail.com
are development of new roads and flyovers in the middle of the
city; building of several ring such as the inner ring road,
middle ring road and outer ring road; restricting of large
vehicles in the city during peak hours; and also development of
sophisticated traffic monitoring and control systems. In the city
of Mumbai, Chennai, Kolkata, the registration of new vehicles
each year increased by about twenty per cent. To overcome
this situation introduction of these systems such as intelligent
traffic controller system and the AI robot car system should be
implemented.
TRAFFIC LIGHTS CONTROL SYSTEM
Basically, there are two types of conventional traffic
lights control system that are in used. One type of control uses
a preset cycle time to change the lights. The other type of
control combines preset cycle time with proximity sensors
which can activate a change in the cycle time or the lights. In
the case of a less traveled street which may not need a regular
cycle of green lights, proximity sensors will activate a change
in the light when cars are present. This type of control depends
on having some prior knowledge of traffic flow patterns at the
intersection so that signal cycle times and placement of
proximity sensors may be customized for the intersection.
Fuzzy logic traffic lights control is an alternative to
conventional traffic lights control which can be used for a
wider array of traffic patterns at an intersection. A fuzzy logic
controlled traffic light uses sensors that count cars instead of
proximity sensors which only indicate the presence of cars.
This provides the controller with traffic densities in the lanes
and allows a better assessment of changing traffic patterns. As
the traffic distributions fluctuate, the fuzzy controller can
change the signal light accordingly. There are two
electromagnetic sensors placed on the road for each lane. The
first sensor behind each traffic light counts the number of cars
passing the traffic lights, and the second sensor which is
located behind the first sensor counts the number of cars
coming to the intersection at distance D from the lights. The
number of cars between the traffic lights is determined by the
difference of the reading between the two sensors. This is in
contrast to conventional control systems which place a
proximity sensor at the front of each traffic light and can only
sense the presence of a car waiting at the junction, not the
number of cars waiting at the traffic. The distance between the
two sensors D, is determined accordingly following the traffic
flow pattern at that particular intersection. The fuzzy logic
controller is responsible for controlling the length of the green
time according to the traffic conditions. The state machine
controls the sequence of states that the fuzzy traffic controller
should cycle through. There is one state for each phase of the
traffic light. There is one default state which takes place when
no incoming traffic is detected. This default state corresponds
to the green time for a specific approach, usually to the main
approach. In the sequence of states, a state can be skipped if
there is no vehicle queues for the corresponding approach.
DESIGN CRITERIA AND CONSTRAINTS:
In the development of the fuzzy traffic lights control
system the following assumptions are made:
i) The junction is an isolated four-way junction with traffic
coming from the north, west, south and east directions;
ii) When traffic from the north and south moves, traffic from
the west and east stops, and vice versa;
iii) No right and left turns are considered;
v) The fuzzy logic controller will observe the density of the
north and south traffic as one side and the west and east traffic
as another side;
v) The East-West lane is assumed as the main approach;
vi) The minimum and maximum time of green light is 2
seconds and 20 seconds respectively.
FUZZY LOGIC TRAFFIC LIGHTS CON-TROLLER DESIGN:
A fuzzy logic controller was designed for an isolated
4-lane traffic intersection: north, south, east and west. In the
traffic lights controller two fuzzy input variables are chosen:
the quantity of the traffic on the arrival side (Arrival) and the
quantity of traffic on the queuing side (Queue). If the north and
south side is green then this would be the arrival side while the
west and east side would be considered as the queuing side,
and vice-versa. The output fuzzy variable would be the
extension time needed for the green light on the arrival side
(Extension). Thus based on the current traffic conditions the
fuzzy rules can be formulated so that the output of the fuzzy
controller will extend or not the current green light time. If
there is no extension of the current green time, the state of the
traffic lights will immediately change to another state, allowing
the traffic from the alternate phase to flow.
FUZZY RULE BASE:
The inference mechanism in the fuzzy logic controller
resembles that of the human reasoning process. This is where
fuzzy logic technology is associated with artificial intelligence.
Humans unconsciously use rules in implementing their actions.
For example, a traffic policeman manning a junction say, one
from the north and one from the west; he would use his expert
opinion in controlling the traffic more or less in the following
way:
IF traffic from the north of the city is HEAVY AND
traffic from the west is LESS THEN allow movement of traffic
from the north LONGER.
The beauty of fuzzy logic is the possible utilization of
approximate reasoning in the rules such as HEAVY, LESS,
AVERAGE, NORMAL, LONGER, etc. Due to the
membership assignment techniques as discussed, such
linguistic variables, though fuzzy in nature, can be taken care
of in the computer through fuzzy logic technology.
FUNCTIONING OF THIS FUZZY LOGIC TRAFFIC
CONTROLLER:
 In a conventional traffic light controller, the lights In this fuzzy logic traffic signal traffic controller system only
change at constant cycle time, which is clearly not the optimal the traffic signal is automatically controlled, still there are
solution. Fuzzy logic can be a better method than conventional some people they won't be obeying the traffic rule and traffic
control methods, especially in the case of highly uneven traffic signals. For them this type of system is also worthless.
flow between different directions. It would be more feasible to
let more cars pass at the green light if there is less number of
cars behind the red lights. A mathematical model for this
decision is difficult to find but fuzzy logic simplifies the task.
Once well working and appropriate rules are formulated for
our four way intersection, it is not too difficult to modify the
fuzzy rule base so that the program can be applied to any given
intersection. In order to deter mine the traffic flow in each
direction, two incremental sensors are to be placed in each
direction at a distance of 200 feet from each other, for a total of
eight sensors. The number of cars that is accumulated behind a
traffic light is calculated by taking the difference between the
two sensor readings.

The input of this model consists of:

1. Current cycle time of light.

To overcome this problem, It is necessary to implement AI
driver less Robot car.........
2. Accumulation Of Cars behind The Red Light on more
crowded street side.
ARTIFICIAL INTELLIGENCE ROBOT CAR:
Artificial Intelligence (AI), a term that in its broadest
3. Accumulation Of Cars behind The Green Light on more
sense would indicate the ability of an artifact to perform the
crowded street side.
same kinds of functions that characterize human thought. The
possibility of developing some such artifact has intrigued
The output parameter is the probability of change of the
human beings since ancient times. With the growth of modern
current cycle time. The input and the output parameters are
science, the search for AI has taken two major directions:
defined by overlapping linear membership functions.
psychological and physiological research into the nature of
human thought, and the technological development of
The knowledge base consists of 110 fuzzy rules, as for
increasingly sophisticated computing systems.
example:

1. If traffic accumulation behind red is very minimal and green

ARTIFICIAL NEURAL NETWORK:
is very minimal and cycle time is short then change is NO.
The neural networks that are increasingly being used
in computing mimic those found in the nervous systems of
2. If traffic accumulation behind red is moderate and green is
vertebrates. The main characteristic of a biological neural
moderate and cycle time is long then change is PROBABLY
network, top, is that each neuron, or nerve cell, receives signals
YES
from many other neurons through its branching dendrites. The
neuron produces an output signal that depends on the values of
all the input signals and passes this output on to many other
neurons along a branching fiber called an axon.

Human Neural Network

 custom developed computer system and logic algorithms,
objects and motion are discerned. These are applied to the AI
which then determines what is traffic, what is the road and
what legal conditions there are around the car. This new legal
stipulation exists because Junior must be able to complete a
course with not only moving traffic, but it also must obey
traffic lights.

Parts of this Robot car Functions of those parts

Sensor at the bottom Scan for small obstacles such

as stones, speed brakes,
Artificial Neural Network etc......

ROBOT CAR: Camera at the top Scan where is road is going,

It has four doors, a hatchback, is diesel powered and, checks the traffic light
it got an artificial intelligence (AI) controlling it. The throttle, signals.
brakes, steering, ignition, everything is controlled by the AI.
This special vehicle is part of a research project with goals to Global Processing System Detect the route map for the
develop the ultimate "smart car" for automated driving. While destination to be reached.
previous attempts have navigated similar vehicles around fixed
obstacle courses without obstructions in motion, this new Spinning 360° rotating range provide an accurate
challenge take everything to a whole new level. finding laser topography of the surrounding
environment.

Numerous processors Process the collected data and

programs the car to run.

Special type of Navigation Search the route for the

system destination.

FUNCTIONING OF THIS ROBOT CAR:

PARTS:

Mounted all around the car are all kinds of

• sensors and control input devices, cameras, etc..

• a spinning, 360 degree range-finding laser which can

provide an accurate topography of the surrounding
environment. That data is augmented with specially
mounted cameras which also provide a full 360
degree view.

• And there are still more lasers and radar units

mounted at various points around the vehicle. All of
it is employed to make sure it can "see" everything
necessary to complete the course.

FUNCTIONS:

The main point to be noted is, this Robot car is not

preprogrammed. When all of this data is processed through a
 ADVANTAGES OF THIS ROBOT CAR:
• While the death toll is already sufficiently
compelling, cars come with many other costs. Traffic
congestion, caused by more than just accidents,
wastes from 4 to 8 billion hours of people's time each
year, and results in the burning of 6 billion gallons of
extra fuel. Robocars will not eliminate congestion
immediately, but as they grow to become a majority
of cars on the road, they can do this in several ways I
will outline below. In this method robot car can
determine its original position and orientation from
the signal provided by transmitter that are placed in
some characteristic point of the manufacturing hall,
then comparing its actual position to the ground plan
of the hall and indicated route, it determine the
required route. The advantages of this method are its
flexibility.
• Parking is another bane of driving yourself. You must
find and pay for parking, or rely on the tremendous
subsidy of free parking given by many urban districts.
Robocars need to stop somewhere when not in use,
but they won't need parking right at your destination
-- they will drop you off and then go elsewhere to
work, refuel/recharge or park. When they do park
they will be very efficient, like a tight valet parking
lot. They may even block driveways as they could
quickly move on request. Single person robocars will
park even more densely. Custom garages could do
even better.
• Robocars could also refuel and recharge on their own.
This turns out to be a remarkable enabler, because
refueling stations need no longer be all that numerous
or conveniently located. This enables new fuel types
to be tried out in the market very quickly.
CONCLUSION:
1. The fuzzy logic traffic lights controller performed
better than the fixed-time controller or even vehicle
actuated controllers due to its flexibility. The
flexibility here involves the number of vehicles
sensed at the incoming junction and the extension of
the green time. In the fixed-time controller, being an
open-loop system, the green time is not extended
whatever the density of cars at the junction. For
vehicle actuated traffic light controllers, which is an
enhanced version of fixed-time controller, the green
time is extended whenever there is a presence of a
vehicle. Since with this “fuzzy logic traffic lights
controller” alone one can't overcome the traffic
problem since new model of “Artificial intelligence
controlled robot car “should be implemented.
2. This “AI robot car” will surely overcome the traffic
crisis since this robot won't violate the traffic rules,
they won't park the car in the traffic area. We could
expect the pollution free, traffic free, accidents less
environment in the forth coming future.
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