PURPOSES : This study aims to develop and validate timing transition techniques for real-time traffic signal operations, departing from conventional methods based on past commuting traffic patterns. METHODS : In this study, we propose two traffic signal transition techniques that can perform transitions while minimizing disruptions within a short period. The Proposed 1 technique involves an unconditional transition within one cycle and allows for the allocation of offset changes to both the coordinated and non-coordinated phases. The Proposed 2 technique performs transitions within 1-2 cycles based on the offset change rate and considers the non-coordinated phase for allocating offset changes. RESULTS : Functional improvements of the proposed techniques were validated. For validation, simulated traffic signal transition scenarios were created, and a comparative analysis of the transition techniques was performed based on the selected analysis approaches. The results showed that the Proposed 1 technique exhibited the lowest delay during the approximated saturated transitions, whereas the Subtract technique showed the lowest delay during the non-saturated transitions. CONCLUSIONS : These findings emphasize the importance of selecting and applying appropriate transition techniques tailored to individual traffic scenarios. The proposed transition techniques provide valuable insights for improving real-time traffic signal operations, and contribute to the overall efficiency and effectiveness of traffic management in highway corridors.

This paper proposes a unified framework that overcomes four motion constraints including joint limit, kinematic singularity, algorithmic singularity and obstacles. The proposed framework is based on our previous works which can insert or remove tasks continuously using activation parameters and be applied to avoid joint limit and singularity. Additionally, we develop a method for avoiding obstacles and combine it into the framework to consider four motion constraints simultaneously. The performance of the proposed framework was demonstrated by simulation tests with considering four motion constraints. Results of the simulations verified the framework’s effectiveness near joint limit, kinematic singularity, algorithmic singularity and obstacles. We also analyzed sensitivity of our algorithm near singularity when using closed loop inverse kinematics depending on magnitude of gain matrix.