mathematics
Article
A Queueing Model for Traffic Flow Control in the
Road Intersection
Yona Elbaum 1 , Alexander Novoselsky 2 and Evgeny Kagan 1,3, *
Citation: Elbaum, Y.; Novoselsky, A.;
Kagan, E. A Queueing Model for
Traffic Flow Control in the Road
Intersection. Mathematics 2022, 10,
3997. https://doi.org/10.3390/
math10213997
Academic Editor: Manuel Alberto
M. Ferreira
Received: 23 September 2022
Accepted: 24 October 2022
Published: 27 October 2022
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Mathematics 2022, 10, 3997. https://doi.org/10.3390/math10213997
1 Department of Industrial Engineering, Ariel University, Ariel 4076414, Israel
2 Department of Earth and Planetary Sciences, Weizmann Institute of Science, Rehovot 7610001, Israel
3 Laboratory for Artificial Intelligence, Machine Learning, Business and Data Analytics, Tel Aviv University,
Tel Aviv 6997801, Israel
* Correspondence: evganyk@ariel.ac.il
Abstract: In this paper, we consider a simple road intersection with traffic light control and suggest
a queueing model for the traffic flow in the intersection. The suggested model implements the
well-known queue with state-dependent departure rates. Using this model, we define optimal state-
dependent scheduling of the traffic lights in the intersection and consider its properties. Activity of
the model is illustrated by numerical simulations. It is demonstrated that in practical conditions the
suggested scheduling of the traffic lights allows the prevention of traffic jams in the intersection and
resolves vehicles queues with reasonable waiting times in the crossing lanes.
Keywords: traffic flow; traffic lights; road intersection; queue theory; state-dependent rate
MSC: 60K30; 90B20
1. Introduction
The queueing theory is one of the basic mathematical tools for analysis of both in-
terrupted and uninterrupted traffic flows. The studies of uninterrupted flows using this
theory can be tracked back to the 1950s (for historical notes see [1]). A classical paper [2]
suggests the widely accepted interpretation of the problems appearing in the studies of
traffic in the terms of queueing theory, and contemporary textbooks (see e.g., [3]) follow
this direction.
The studies of interrupted traffic flows consider both the flows interrupted by arbitrary
events, such as road accidents [4], and the flows interrupted by traffic control means, such
as stop signs and traffic lights [5]. Usually, the interrupted flows are modelled by the
M/M/1 queues and their extensions or considered as bulk service systems modelled by the
M X /MY /1 queues. In the analysis of controlled intersections, each lane is specified as an
independent queue, and the traffic lights govern an alternation between these queues [3,6,7].
For brief overview of the queueing models of the traffic flows see [8].
In addition to the usual queue’s attributes, traffic flows have certain characteristics,
such as startup delays and yellow utilization periods [9], which play an essential role in
the functionality of intersections and must be concerned in the models. These variable
parameters can be considered using the methods of the queues with varying rates [5].
Formally, the queues with varying rates are divided into several types: the queues
with time-dependent rates (see the seminal work [10] and its successors, e.g., [11,12]), the
queues with event-dependent rates (the queue with event-dependent arrival rate is studied
in [13]), and the queues with state-dependent rates [14–16] (see also chapter 2.9 in the
textbook [17]).
In the paper, we follow the last approach and suggest a new model for traffic flow in
the controlled intersection in the form of alternating M/Mn /1 queues with state-dependent
departure rates. Then, the traffic lights in the intersection are controlled using only the
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Mathematics 2022, 10, x FOR PEER REVIEW which for given 𝜆 means the requirement to maximize
2 of 15the depa

Lemma 1. The departure rate 𝜇 𝑇 reaches its maximum if 𝑡1 = 𝑇 and

Mathematics 2022, 10, 3997 In the paper, we follow the last approach and suggest a new model for traffic flow in
2 of 15
Proof. The decreasing of the traffic flow after switching the green
the controlled intersection in the form of alternating 𝑀/𝑀𝑛 /1 queues with state-depend-
number 𝑘 of vehicles, which entered the intersection when the g
ent departure rates. Then, the traffic lights in the intersection are controlled using only the
on, that is, 𝜇0,0 = 𝜇1,𝑘 . Then from Formulas (4) and (6) it directly
arrival rates in the lanes as inputs, without referring to additional external parameters that
arrival rates in the lanes as inputs,𝑛without
𝑇 reaches referring
its maximumto additional external parameters that
provide direct adaptation of the scheduling to the traffic flow and queues at the entrance
provide direct adaptation of the scheduling to the traffic flow and queues at the entrance of
of the intersection. 𝑛 𝑇 = 𝑇𝜇1,𝑘 ,
the intersection.
The presented model is the first attempt of applying the state-dependent queue to
The presented model is the first attempt of applying the state-dependent queue to
intersection scheduling, and we use it to define an optimal schedule for traffic lights in
intersection scheduling, and we for use it =
to 𝑇define an𝑡optimal
= 𝑇 − 𝑡schedule for traffic lights in
the simplest intersection. Activity of 𝑡the 1 and so
intersection 0according 1 =to0.the
□ suggested model is
the simplest intersection. Activity of the intersection according to the suggested model is
verified by numerical simulations.
verified by numerical simulations. Intuitively the statement of the lemma is obvious: if the gre
2. Problem
Problem Formulation
Formulation ways switched on, then the throughput of this lane is maximal
2.
which follows from Equation (12).
Consider aa simple
Consider simple road
road intersection
intersection controlled
controlled by by traffic
traffic lights,
lights, as
as shown
shown in in Figure
Figure 1. 1.
The intersection
The intersection includes
includes two
two pairs
pairs of
of the lanes:
lanes: from north north to south
south andand from
from south
south to to
3.2. Thethe
Queueingfrom Model of theto Controlled Traffic Flow in the Simple C
north, and
north, and from
from east
east to
to west
west and
and from
from west
west totoeast.
east. The
The vehicles
vehicles follow
follow thethe directions
directions
indicated by
indicated by the
the arrows.
arrows. Motion
Motion of theLet
of the us apply
vehicles
vehicles
the model
is regulated
is regulated byof
by
traffic
four
four
flow traffic
standard
standard
in the lights
lane to descri
traffic lights
placedononthe
thecorners
cornersof ofthe intersection,
theintersection.
intersection. which is a simple crossroad with two lanes. The sche
placed
shown in Figure 6.

Figure 1.
Figure 1. The
The road
road intersection
intersection with
with Figure
four lanes
four lanes controlled
controlled
6. Simple by the
by the standard
intersection standard red–yellow–green
red–yellow–green
of two lanes traffic red-ye
traffic
controlled by standard
lights. Directions
lights. Directions of
of the
the vehicles’
vehicles’ movements
movements
Directionsfrom north
north
of the (N)) to
(N
vehicles to south (S
south
movements (S) and
) and backward,
frombackward, and
south (S) and
to from(N) and fr
from
north
east (E) to west (W) and backward are denoted
east (E ) to west (W ) and backward aredenoted
denotedby by
bythethe arrows.
thearrows. While
arrows.While arriving
Whilearriving to
arrivingtotothethe intersection,
theintersection,
intersection,the thevehicles m
the
vehicles may or may not stop before the stop
vehicles may or may not stop before the stop lines lines at the entrances
entrances.to
at the entrances to the
Exits intersection.
the from the intersection are deno
intersection.

The shown
The shown intersection
intersection represents
represents the the simplest
simplest situation,
situation, which
which allows
allows intuitively
intuitively
clear modelling.
clear modelling. The The vehicles
vehicles arrive
arrive toto the
the entrances
entrances of of the
the intersection
intersection and and ifif green
green lights
lights
are switched
are switched on, on, they
they continue
continue in their lanes via the intersection and then exit from it.
Certainly,ififgreen
Certainly, greenlights
lightsareareswitched
switchedononinin thethe lanes
lanes from
from north
north to to south
south andand
from from south
south to
to north,
north, thenthen red lights
red lights in theinlanes
the lanes fromtowest
from west east to
andeast
from and from
east eastmust
to west to west must be
be switched
switched
off, and vice off,versa.
and vice versa. In to
In addition, addition, to avoid caused
avoid accidents accidents bycaused
physical byand
physical and psy-
psychological
chological
reasons, reasons,
between between
green green
and red andswitching
lights red lightson switching
and off, on and
in all off, in
lanes all lanes
certain certain
periods of
periodslights
yellow of yellow lightson
switching switching
are used.on are used.
Then, Then, the
the complete complete transportation
transportation circle in eachcircle in
lane is
the
eachfollowing
lane is the sequence
following of sequence
switches:of green light,green
switches: yellow light,
light, red light,
yellow light,yellow light,
red light, and
yellow
then
light,again greenagain
and then lightgreen
and solight
on. and so on.
In
In the
the simple
simple roadroad intersection
intersection shown
shown in in Figure
Figure 1,1, the
the lanes
lanes from
from north
north to to south
south and
and
from
from south to north act in parallel, so the switches of the traffic lights in these lanes are
south to north act in parallel, so the switches of the traffic lights in these lanes are
equivalent.
equivalent. The lanes from west to east east and
and from
from east
east to
to west
west also
also act
act in
in parallel,
parallel, but
but the
the
switches
switchesininthesetheselanes
lanes oppose
oppose thethe
switches
switchesin the lanes
in the fromfrom
lanes northnorth
to south and from
to south andsouth
from
to north. As a result, while the vehicles in the lanes from north to south and from south to
north follow through the intersection, the vehicles in the lanes from west to east and from
east to west wait in the queues and vice versa.
 Intuitively the Intuitively
statement of thethe lemma isofobvio
statement the l
ways switchedways on, then the throughput
switched on, then the of through
this lan
south to north. As a result, while the vehicleswhich in thefollows
lanes from
fromnorth to south
Equation (12).and from
which follows from Equation (12).
south to north follow through the intersection, the vehicles in the lanes from west to east
Mathematics 2022, 10, 3997 3 of 15
and from east to west wait in the queues and vice versa.
3.2. The Queueing3.2.Model of the Controlled
The Queueing Model ofTraffic Flow i
the Controlle
The overall traffic in the intersection includes Let traffic flows in
us apply the all the lanes with mini-
Letmodel
us apply of traffic
the modelflow ofin traffi
the l
mal waiting times that requires optimal alternating between
intersection, whichtheisflows
a in the
simple lanes. The
crossroad with two la
The overall traffic intersection,thewhich is a simple
min- crossro
alternating between theintraffic
the intersection includes
flows is defined traffic
by the
shown
flows
intraffic
Figure
in all
lights
6.
lanes that
scheduling with must,
imal waiting shown in Figure 6.lanes. The
on one hand, times that
provide requirestraffic
maximal optimal alternating
in the between
intersection, and, onthethe
flows
otherin the
hand, prevent
alternating between the traffic flows is defined by the traffic lights scheduling
accidents between the vehicles from the crossing flows. Therefore, the problem is to define that must,
on one hand, provide maximal traffic
the scheduling which provides these results.in the intersection, and, on the other hand, prevent
accidents between the vehicles from the crossing flows. Therefore, the problem is to define
the schedulingModel
3. Suggested which provides these results.
The formulated
3. Suggested Model problem consists of two parts: description of the traffic flows in the
lanes of the interchange, and specification of the alternating between crossing traffic
The formulated problem consists of two parts: description of the traffic flows in the
flows.
lanes of the interchange, and specification of the alternating between crossing traffic flows.
3.1. The
3.1. The Queueing
Queueing Model
Model of the Controlled
of the Controlled Traffic
Traffic Flow
Flow in
in the
the Lane
Lane
Since all four lanes in the considered intersection are equivalent, we
Since all four lanes in the considered intersection are equivalent, we can
can model
model any
any
one of
one of them
them and
and then
then distribute
distribute the results to
the results to the
the other.
other. For
For example,
example, let
let us
us consider
consider the
the
east–west lane shown in Figure
east–west lane shown in Figure 2. 2.

Figure 6. SimpleFigure
intersection of two
6. Simple lanes controlled
intersection by st
of two lanes
Directions of theDirections
vehicles movements
of the vehicles movementstofrom
from south (S) no
Figure 2. Single lane of the intersection controlled by traffic
denoted lights.
by the
Figure 2. Single lane of the intersection controlled by traffic lights. Direction
arrows. of
While
Direction
denoted the flow
arriving
of arrows.
by the is from
to
the flowWhile theeast
intersection,
is fromarriving to
(E) to west (W). An entrance to the intersection is denoted
theisstop by the stop
lines line
at thelines , and an
entrances. exitentrances.
Exits fromthe interse
from
east (E ) to west (W ). An entrance to the intersection denoted bythe
thestop
stop line ,at
andthe an exit Exits
the intersection is denoted by the dotted line .
from the intersection is denoted by the dotted line .

The transportation
The transportation circle circle in
in the
the lane
lane isis as
as follows
follows [9,18]:
[9,18]:
1.
1. The
The green
green light
light switches
switches on on at time τ𝜏00.. After
at time After the
the startup
startup delay
delay ∆ ∆11 ,, the
the first
first vehicle
vehicle
enters
enters the
the intersection
intersection (crosses
(crosses the
the stop
stop line)
line) at time τ𝜏11 =
at time = τ𝜏00 +
+∆∆11..
2.
2. The
The rate
rate ofof moving
moving through
through the intersection (through
the intersection (through the the section
section between
between entrance
entrance
to and exit from the intersection) increases approximately after
to and exit from the intersection) increases approximately after the fourth vehicle the fourth vehicle
reaches its saturation
reaches its saturation regime.regime.
3. At
At the
the saturation
saturation regime
regime the vehicles move through the intersection with an approxi- approx-
imately constant rate
mately constant rate and
and the headways between them are approximately equal. The
flow
flow inin this
this regime
regime isis called saturation flow.
4. At
At time
time τ 𝜏2 > 𝜏τ11 green
green light
light switches
switches offoff and
and yellow
yellow light
light switches
switches on. on. Some vehicles
continue
continue their movement and exit the intersection, and the other slow down
their movement and exit the intersection, and the other slow down and
and stop.
stop.
5. At time 𝜏τ33 the
Attime the last
lastvehicle
vehicleexits
exitsthe
theintersection
intersection (passes
(passesthethe
exitexit
line). The period
line). ∆3 =
The period
𝜏∆33−=𝜏2τ3is−called the yellow
τ2 is called utilization
the yellow period.
utilization period.
6. Finally, time τ𝜏44 > τ
Finally, at time 𝜏3 yellow
yellowlight
light switches
switches off off and
and red
red light
light switches
switches on, that ends
the flow
the flow through
through the the intersection.
Certainly, in real scenarios the presented flow can be disturbed
disturbed byby traffic
traffic jams,
jams, un-
un-
predictable behavior of the drivers, faults and disfunctions, and so on, but for ordinary
situation the presented description is acceptable.
acceptable.
Let us consider the moments
moments of switching
switching green
green light. Assume that green light is
light. Assume
switched off
off and
andthat
thatthe
thearrival
arrivalofof
thethe vehicles
vehicles to the
to the entrance
entrance of intersection
of the the intersection is
is gov-
governed by the
erned by the Poisson
Poisson distribution
distribution [17][17]
𝑛
λn𝜆 −𝜆
𝑃𝑎𝑟𝑟
Parr (n(𝑛)
) = = 𝑛!e−𝑒λ , , (1)
(1)
n!
with the arrival rate λ, which cannot be controlled and is considered as an external factor.
The value Parr (n) is the probability that in the unit time interval the number of vehicles at
the entrance of the intersection is n.
After switching the green light on, the vehicles begin to move through the interchange
and cross the exit line with the departure rate µ1,k , which increases with the number k of
Mathematics 2022, 10, x FOR PEER REVIEW 4 of 15

with the arrival rate 𝜆, which cannot be controlled and is considered as an external factor.
Mathematics 2022, 10, 3997 4 of 15
The value 𝑃𝑎𝑟𝑟 (𝑛) is the probability that in the unit time interval the number of vehicles
at the entrance of the intersection is 𝑛.
After switching the green light on, the vehicles begin to move through the inter-
vehicleand
change up to a constant
cross the exitsaturation value.
line with the By therate
departure conventional
𝜇1,𝑘 , whichapproach,
increaseswe assume
with that
the num-
the departures of the vehicles are governed by exponential distribution [17]
ber 𝑘 of vehicle up to a constant saturation value. By the conventional approach, we as-
sume that the departures of the vehicles are governed by exponential distribution [17]
Pdep (k) = µk e−µk k , (2)
𝑃𝑑𝑒𝑝 (𝑘) = 𝜇𝑘 𝑒 −𝜇𝑘 𝑘 , (2)
where Pdep (k) is the probability that in the unit time interval the number of vehicles passed
where 𝑑𝑒𝑝 (𝑘)
the exit𝑃line is the
of the probability
intersection is k.that in the unit time interval the number of vehicles
passed To represent the dependence of the is
the exit line of the intersection 𝑘.
departure rate on the vehicle number j, j = 1, 2, . . . , k,
Toarriving
in the represent
flow,thewedependence of the departure
define the departure rate on the vehicle number 𝑗, 𝑗 =
rate µ1,j as
1,2, … , 𝑘, in the arriving flow, we define the departure rate 𝜇1,𝑗 as
−b −b2 −bk
µ = const, µ1,1 = µ1,0 + ae , µ = µ + ae , . . . , µ = µ1,k−1 + ae−𝑏𝑘 , (3)
𝜇1,0 1,0
= 𝑐𝑜𝑛𝑠𝑡, 𝜇1,1 = 𝜇1,0 + 𝑎𝑒 −𝑏 , 𝜇1,21,2= 𝜇1,11,1 + 𝑎𝑒 −𝑏2 , …, 𝜇1,𝑘1,k= 𝜇1,𝑘−1 + 𝑎𝑒 , (3)
or in the close form as
or in the close form as
 
e−bk bk𝑏𝑘
𝑒 −𝑏𝑘e(𝑒 −−1)
1
𝜇1,𝑘 = 𝜇1,0 + 𝑎k∑𝑘𝑗=1−𝑒bj−𝑏𝑗
= 𝜇1,0 + 𝑎 , (4)
µ1,k = µ1,0 + a ∑ j=1 e =
µ1,0 + a 𝑒 𝑏 −1 , (4)
eb − 1
where 𝑎, 𝑏 > 0 are parameters representing specific physical conditions in the inter-
where a,
change b>
like 0 are parameters
quality of the road, representing
visibility, andspecific physical conditions
so on. Dependence in the interchange
of the departure rate 𝜇1,𝑗
like quality of the road, visibility, and so on. Dependence of
on number 𝑗 is shown in Figure 3. In the figure, 𝜇1,0 = 0 and 𝑎 = 𝑏 = 1. the departure rate µ1,j on
number j is shown in Figure 3. In the figure, µ1,0 = 0 and a = b = 1.

Figure
Figure 3.3. Dependence
Dependence of of the
thedeparture
departurerate 𝜇1,𝑗onon
rateµ1,j thethe vehicle
vehicle j in 𝑗the
number
number inqueue
the queue
whilewhile the
the initial
initial µ1,0is=𝜇01,0and
rate israte = 0theand the intersection
intersection parameters
parameters b =𝑎 1.= 𝑏 = 1.
are a =are

Forthese
For theseparameters
parametersthe thedeparture
departurerate
rateconverges
convergesand for𝑘k==44(the
andfor (thefourth
fourthvehicle)
vehicle)
becomes close to the approximately constant value that coincides with the
becomes close to the approximately constant value that coincides with the indicated above indicated above
empirical observation.
empirical observation.
Nowconsider
Now considerthe themoment
momentofofswitching
switching thethe green
green light
light off.off. At this
At this momentmoment the
the de-
departure rate begins to decrease and obtains a value of zero at the end
parture rate begins to decrease and obtains a value of zero at the end of the yellow utili- of the yellow
utilization
zation period.period.
We assume
We assume that that the
thedeparture
departure rate
rateafter
afterswitching
switchingthethegreen
greenlight
lightoff
offisisinverse
inverseof
ofthe
the
rateafter
rate afterswitching
switchingthe thegreen
greenlight
lighton.
on.Let
Letthe
thenumber
numberof ofvehicles
vehiclesininthe
theintersection
intersectionbefore
before
the exit line including the vehicles before the entrance be k. Then the departure rates of the
the exit line including the vehicles before the entrance be 𝑘. Then the departure rates of
exiting vehicles are
the exiting vehicles are
𝜇0,0µ0,0 = const,𝜇0,1
= 𝑐𝑜𝑛𝑠𝑡, ==
µ0,1 𝜇0,0µ0,0
− 𝑎𝑒 ae−
− −𝑏 b
µ0,2= =
, ,𝜇0,2 𝜇0,1 −−
µ0,1 −𝑏2
𝑎𝑒ae
−b2
, , …, 0,k==𝜇µ
. . . , 𝜇µ0,𝑘 0,k −1−−
0,𝑘−1
−bk
𝑎𝑒ae−𝑏𝑘 , , (5)
(5)
orin
or inthe
theclose
closeform
formare
are
𝑒 −𝑏𝑘 (𝑒 𝑏𝑘 −1)
 
𝜇0,𝑘 = 𝜇0,0 − 𝑎k∑𝑘𝑗=1 𝑒 −𝑏𝑗 = 𝜇0,0 −e𝑎−bk e𝑏bk − 1 , (6)
µ0,k = µ0,0 − a ∑ j=1 e−bj = µ0,0 − a 𝑒 −1
b−1
, (6)
Dependence of the departure rate 𝜇0,𝑗 on number 𝑗 iseshown in Figure 4. In the fig-
ure, 𝜇Dependence
0,0 = 𝜇1,𝑘 and
of 𝑎 = departure
the 𝑏 = 1. rate µ0,j on number j is shown in Figure 4. In the figure,
µ0,0 = µ1,k and a = b = 1.
 Mathematics 2022, 10, x FOR PEER REVIEW 5 of 15

Mathematics 2022, 10, x FOR PEER REVIEW 5 of 15

Mathematics 2022, 10, 3997 5 of 15

Figure 4. Dependence of the departure rate 𝜇0,𝑗 on vehicle number 𝑗 in the queue while the initial
rate is 𝜇 = 𝜇1,𝑘 and the intersection parameters are 𝑎 = 𝑏 = 1.
Figure4.4.0,0
Figure Dependence
Dependenceofofthe thedeparture rate𝜇µ
departurerate on vehicle number 𝑗 in the queue while the initial
0,𝑗0,j on vehicle number j in the queue while the initial
rateisis 𝜇µ0,0
rate 0,0 == 𝜇µ1,𝑘 the intersection parameters are a𝑎 =
and the
1,k and = b𝑏 =
= 1.
1.
Thus, the switches of green, yellow and red lights govern the alternating between
𝑀/𝑀 the
two Thus, /1 switches
queues: onegreen, with the increasing and the other the with the decreasing depar-
Thus, 𝑛the switches of of green,yellowyellowand andred redlights
lightsgovern
govern the alternating
alternating between
between two
ture
M/M rates.
n /1 queues: one with the increasing and the other with the decreasing departure rates.
two 𝑀/𝑀𝑛 /1 queues: one with the increasing and the other with the decreasing depar-
Note that the
Note theimplemented
implementeddependences dependences ofofthethedeparture
departure rates 𝜇1 µ
rates and
1 and𝜇0 µon thethe
0 on ve-
ture rates.
hicle number 𝑗 ininthe thequeue
queueare heuristic
heuristic and can be substituted by other other appropriate
vehicle
Note that thej implemented
number are
dependences and
of the candeparture rates 𝜇 and 𝜇0appropriateon the ve-
monotonically increasing
monotonically increasing and and decreasing
decreasingfunctions, respectively. 1
functions,respectively.
hicle number 𝑗 in the queue are heuristic and can be substituted by other appropriate
The queue
The queue M/M 𝑀/𝑀𝑛n/1, /1, inin which
which arrival
arrival is is governed
governed by Poisson distribution with con-
monotonically increasing and decreasing functions, respectively.
stant arrival rate
stant rate 𝜆λ andand departure
departureisisgovernedgovernedbyby exponential
exponential distribution
distribution with state-de-
with state-
The queue 𝑀/𝑀𝑛 /1, in which arrival is governed by Poisson distribution with con-
pendent departure rate 𝜇 , was suggested by Harris in 1967
dependent departure rate 𝑛µn , was suggested by Harris in 1967 [14]. A simple explanation [14]. A simple explanation of
stant arrival rate 𝜆 and departure is governed by exponential distribution with state-de-
thethe
of properties
properties of this queue
of this queue is presented
is presented in the textbook
in the textbook [17].[17].
In 2016, Abouee-Mehrizi
In 2016, Abouee-Mehrizi and
pendent departure rate 𝜇𝑛 , was suggested by Harris in 1967 [14]. A simple explanation of
and
BaronBaron
[16][16] extended
extended thisthis definition
definition totothethe𝑀/𝐺/1
M/G/1queue; queue;however,
however,for for the considered
considered
the properties of this queue is presented in the textbook [17]. In 2016, Abouee-Mehrizi and
problem
problem we we remain
remainwith withthe the M/M𝑀/𝑀n /1 queue queue withwith thethe defined
defined above above rates.
rates.
Baron [16] extended this definition𝑛 to the 𝑀/𝐺/1 queue; however, for the considered
Recall that in the M/M/1
Recall 𝑀/𝑀/1 queue queue withwith arrival
arrivalrate rate 𝜆λ and departure or service service rate
rate µ, 𝜇,
problem we remain with the 𝑀/𝑀𝑛 /1 queue with the defined above rates.
the
the expected
expected number
number of of customers
customers in service service (also interpreted as the offered offered load
load or
or thethe
Recall that in the 𝑀/𝑀/1 queue with arrival rate 𝜆 and departure or service rate 𝜇,
utilization
utilization coefficient)
coefficient) isis defined
definedby bythetheratio
ratio[17]
[17]
the expected number of customers in service (also interpreted as the offered load or the
utilization coefficient) is defined by the ratio𝜌[17] =λ𝜆, (7)
ρ = ,𝜇 (7)
µ𝜆
and necessary and sufficient condition for𝜌the = system
𝜇
, to be in the steady state is (7)
and necessary and sufficient condition for the system to be in the steady state is
and necessary and sufficient condition for the 𝜌< system
1. to be in the steady state is (8)
ρ𝜌<<1.1 . (8)
In the traffic flows analysis, the ratio 𝜌 is called the traffic intensity [3], and condition (8)
(8) guarantees
Inthe
thetraffic continuous
trafficflows
flows analysis,flow
analysis, the of the
the ratio traffic.
ratio ρ𝜌isiscalled
In calledthe thetraffic
traffic intensity
intensity [3], and
[3], andcondition
condition (8)
guarantees by 𝑡0 the flow
Denotecontinuous period of between
the the moments of the green light switching off and
traffic.
(8) guarantees continuous flow of the traffic.
on and by 𝑡by1 the period between the moments of the green light switching on and off.
Denote
Denote by 𝑡t00 the
theperiod
periodbetween
betweenthe themoments
momentsofofthe thegreen
greenlight lightswitching
switching offoff
and andon
During
and by t the
theperiod
period 𝑡 the
between
0 yellow
the and
moments red lights
of the are
greenswitching
light
1 𝑡1 the period between the moments of the green light switching on and off.
on and
switching off,
on and
and during
off. During the
on and by
period 𝑡1 only
t0 thethe green light redisand
switched on. The diagram on and of these switches is shown in
the period
During the period yellow
𝑡0 theand yellow lights arelights
red switching
are switching off,
on and
and during
off, andthe period
during thet1
Figure
only the 5.
period 𝑡 green
1
lightgreen
only the is switched
light is on. The diagram
switched on. Theofdiagram
these switches
of theseisswitches
shown inisFigure
shown5.in
Figure 5.

Figure 5.
Figure 5. Diagram
Diagram of
of the
the switches
switches of of the
the green
green light.
light. The
The green
green light
light is
is switched
switched onon during
during the
the period
period
𝑡 and it is switched
t11 and5.itDiagram off during the period 𝑡 . During the period 𝑡 yellow and red lights
0. During the period t 0 yellow and red lights are also are also
Figure is switched
switched on and off.
offswitches
of the during thethe
Dotted lineof greent0light.
period
schematically The green
depicts light is0 switched
the changes on during
of the traffic the period
in the intersection
𝑡switched
and it is
1(usually
on and off.off
switched
called
Dotted
discharge duringline schematically
the
rate [9]).
depictsthe
period 𝑡0 . During theperiod
changes𝑡0 of the traffic
yellow in the
and red intersection
lights are also
(usually called
switched on anddischarge rateline
off. Dotted [9]).
schematically depicts the changes of the traffic in the intersection
(usually called discharge rate [9]).
Let T𝑇 = = 𝑡t1 + 𝑡0 be the time of complete transportation circle. Then, the expected
Let 1 + t0 be the time of complete transportation circle. Then, the expected
number 𝑛 of vehicles passed
𝑇of vehicles passed inin the lane throughthethe intersection during
thethe transporta-
Let n𝑇T=
number 𝑡1 + 𝑡0 be the time the
of lane through
complete intersection
transportation during
circle. Then, transportation
the expected
tion circle
circle is 𝑛 𝑇 isof vehicles passed in the lane through the intersection during the transporta-
number
tion circle is t1 µ1 + t0 µ0 = n T , (9)
 𝑡1 𝜇1𝑡1+𝜇1𝑡0+
𝜇0𝑡0=𝜇0𝑛= 𝑛 ,
𝑇, 𝑇 (9) (9)
and departure
Mathematics 2022, 10, 3997 andand departure
departure raterate
is is 6 of 15
𝑡1 𝜇𝜇
𝑡1 𝜇1 +𝑡 1 +𝑡0 𝜇0
0 0 = 𝜇𝑇 . (10)(10)
𝑇 𝑇 = 𝜇𝑇 . From cond
From From condition
condition (8) it follows that for steady traffic flow in the intersection we to need
satisfy the fo
and departure rate(8)
is it follows that for steady traffic flow in the intersection we need
to satisfy the following
to satisfy the following inequality inequality t1 µ1 + t0 µ0
= µT . (10)
T
𝜆 < 𝜆𝜇< 𝑇 , 𝜇𝑇 , (11) (11)
From condition (8) it follows that for steady traffic flow in the intersection we need which to for given
which
which for given
for given
satisfy the 𝜆 means
𝜆 means
following the the
inequality requirement
requirement to maximize
to maximize the the departure
departure 𝜇𝑇 . 𝜇𝑇 .
raterate
λ < µT , Lemma
(11) 1. The d
Lemma 1. The departure rate 𝜇 reaches its maximum
Lemma 1. The departure rate 𝜇 𝑇 reaches its maximum if 𝑡1 = 𝑇 and 𝑡0 = 0.
𝑇 if 𝑡 1 = 𝑇 and 𝑡0 = 0.
which for given λ means the requirement to maximize the departure rate µ T . Proof. The decr
Proof. The decreasing of the traffic flow after switching the green light off begins from the the 𝑘 of v
Proof. The decreasing of the traffic flow after switching the green light off begins from
number
Lemma 1. The departurewhichrate µ Tentered
reaches its maximum = T and
if t1when 0 = 0. light was switched
tgreen
number
number 𝑘 of𝑘vehicles,
of vehicles, which entered the the intersection
intersection when the the
green light was switched on, that is, 𝜇0,0
on, on,
thatthat
is, 𝜇is, 𝜇=0,0𝜇= .𝜇Then . Then from Formulas (4) and (6) it(6)directly
it directly follows
thatthat
the the 𝑛 𝑇 reaches its m
number
Proof. The 1,𝑘 1,𝑘 of from
0,0decreasing Formulas (4) and follows
the traffic flow after switching the green light off begins from the
number
𝑛 𝑇 reaches
𝑛 𝑇 number
reaches its its maximum
maximum
k of vehicles, which entered the intersection when the green light was switched on,
that is, µ0,0 = µ1,k . Then from Formulas 𝑛 𝑇𝑇𝜇= 𝑇𝜇 , directly follows that the number(12)
𝑛 𝑇 (4)
= and (6) it
1,𝑘 , 1,𝑘 (12) n T
reaches its maximum
n T = Tµ1,k , 𝑡1 = 𝑇 and
for(12)
for 𝑡 = 𝑇 and so 𝑡
for 𝑡1 = 𝑇 and so 𝑡0 = 𝑇 − 𝑡1 = 0. □
1 0 = 𝑇 − 𝑡1 = 0. □
for t1 = T and so t0 = T − t1 = 0.  Intuitively
Intuitively the statement of the lemma is obvious: if the
Intuitively the statement of the lemma is obvious: if the green light in the lane is al- switched green light in the lane is
ways al-
Intuitively the then
ways
ways switchedswitched thenstatement
on, on, the the of the lemma
throughput
throughput of this
of this is obvious:
lane lane if the green
is maximal.
is maximal. light in
It means
It means thatthat𝜇the 𝜇lane
= 𝜇is, follows
which
𝑇 = 𝑇𝜇1 , 1
always
which switched
follows fromon, then
Equation the throughput of this lane is maximal. It means that = µ1 ,
(12).(12).
µ T
which follows from Equation
which follows from Equation (12). 3.2. The Queuei
3.2.
3.2.3.2. The
The The Queueing
Queueing ModelModelof theof the Controlled Traffic Flow in the Simple Crossroad
Queueing Model of Controlled
the Controlled Traffic Flow
Traffic Flowin the Simple
in the Crossroad
Simple Crossroad Let us app
Let
Let Let us
us apply apply the
the the
model model of
of traffictraffic
flow flow
in the in the lane
lanelane to description
to description of theof the flow
flowflow in
in the the
intersection, w
us apply model of traffic flow in the to description of the in the
intersection,
intersection, which which is a
is aissimplesimple crossroad
crossroad with with
twotwo two
lanes.lanes.TheTheThe scheme
scheme of
of the the intersection
intersection shown
is is is in Figur
intersection, which a simple crossroad with lanes. scheme of the intersection
shown
shown in in Figure
Figure 6. 6.
shown in Figure 6.

Figure 6. Simple
Figure 6. Simple intersection of two lanes controlled by standard red-yellow-green traffic lights.Directions
Figure
Figure 6. Simple
Simple intersection
intersection of
oftwo
two lanes
lanes controlled
controlled by standard
by standard red-yellow-green
red-yellow-green traffic lights. of the
lights.
traffic
Directions of the vehicles movements from south (S) to north (N) and from east (E) to west (W) are) are by the a
Directions
Directions of the vehicles movements from south (S)
(S ) to
to north
north (N)
(N ) and
and from
from east
east (E)
(E ) to
to west
west denoted
(W)
(W
denoted
denoted
denoted by
by thebythe
thearrows.
arrows.
arrows. WhileWhile
While arriving
arriving
arriving totothe
to the theintersection,
intersection,
intersection, the
thethe vehicles
vehicles
vehicles may
may
may oror or
may
may may
not not
notstop
stopstop the
before
before stop
the lines
before
the stop
the stop lineslines at the at entrances.
the entrances.
ExitsExits
fromfrom the intersection
the intersection are denoted
are denoted by dotted
by the the dottedlineslines .

In this intersection, which is a cross of two lanes, the vehicles follow from south
to north and from east to west, and the flow in each lane is controlled by the standard
red–yellow–green traffic lights.
The diagram of the traffic lights’ switches is shown in Figure 7. In the figure, the upper
indices define the lane. Similar to Figure 5, t11 and t21 are the periods during which the green
Mathematics 2022, 10, x FOR PEER REVIEW 7 of 15

In this intersection, which is a cross of two lanes, the vehicles follow from south to
Mathematics 2022, 10, 3997
north and from east to west, and the flow in each lane is controlled by the standard7 red– of 15
yellow–green traffic lights.
The diagram of the traffic lights’ switches is shown in Figure 7. In the figure, the
upper indices define the lane. Similar to Figure 5, 𝑡11 and 𝑡12 are the periods during which
1 and t2 ,
light is switched
the green light is on in the first
switched on inand
theinfirst
theand
second lane,
in the respectively.
second Thet0periods
The periods
lane, respectively. 0
during which green light is switched off are divided into three parts:
𝑡01 and 𝑡02 , during which green light is switched off are divided into three parts:
t0l 𝑡0=
𝑙 tl 𝑙 + tl 𝑙 + tl 𝑙 ,
= 0,1
𝑡0,1 +0,2 𝑡0,3 , l =𝑙 1,
𝑡0,2 +0,3 =2,1,2, (13)
(13)
l 𝑙 yellow
during t𝑡0,1 switched on, during t𝑡0,2 l𝑙 red
during 0,1 yellow light
light (switched
(switched after
after green)
green) is
is switched 0,2 red light
light is
is
𝑙
switched on
switched on and during t 𝑡0,3yellow
and during l yellowlight
light(switched
(switchedafter
afterred)
red)isisswitched
switchedon.
on.
0,3

Figure 7.
Figure 7. Diagram
Diagram ofof the
the lights’
lights’ switches
switches in in the
the lanes
lanes 11 and
and 2.
2. The
The green
green light
light is
is switched
switched on
on during
during
1 2 1 2 𝑙
the periods 𝑡
1 and 2𝑡 , and it is switched off during
the periods t11and t1 ,1and it is switched off during the periods t0 andthe periods 1 𝑡0 and2 𝑡 . The periods
l
0 periods t , l =
t0 . The 𝑡 𝑙=
0 , 1, 2,
𝑙 𝑙 𝑙 0
1, 2, consist of three parts
l l 𝑡 , 𝑡
consist of three parts t0,1 , t0,20,1and0,2 l and 𝑡
t0,3 during during which yellow and red lights
0,3which yellow and red lights are switched on. are switched on.

Denote by 𝜆λ11 and 𝜇

Denote µ11 arrival andanddeparture
departurerates ratesinin
thethe
lane 1 and
lane by 𝜆by
1 and 2
and 𝜇2 ar-
λ2 and µ2
rival and
arrival and departure
departure rates in in
rates thethe
lane 2. In
lane 2. the notation
In the of the
notation departure
of the departurerates, we will
rates, also
we will
use the
also use bottom
the bottom indices, which
indices, specify
which the considered
specify the consideredperiod. As above,
period. we assume
As above, we assume that
the traffic
that in each
the traffic lane lane
in each is described by the
is described by𝑀/𝑀the M/M
𝑛 /1 queue
n /1 with
queue the
withrates
the defined
rates by Equa-
defined by
tions (4) and
Equations (4) (6).
and (6).
Consider lane
Consider lane 11 directed
directed from
from south
southto to north.
north. Assume
Assume thatthat the
the green
green light
light is
is switched
switched
11
off
off and
and the number of vehicles in the lane 1 of the intersection is k𝑘11.. Note
the number Note that
that an
an expected
expected
number L𝐿q𝑞 ofofvehicles
number vehiclesin inthe
thelane
lane is defined by the time t𝑡1001 during
is defined duringwhich
whichgreen
greenlight
light was
was
switched
switched offoff and
and thethe arrival rate λ𝜆11
arrival rate
1
L1q1𝐿𝑞1
== 𝑡011𝜆. 1 .
t10 λ (14)
(14)
Then, if the number 𝑘1 is unknown, the value 𝐿1 instead can be used.
Then, if the number k11 1is unknown, the value L1q1 𝑞1 instead can be used. 1
Since the green light is switched off, the departure rate in the lane is 𝜇11,0 = 0. In the
Sincethe
moment thegreen
greenlight
lightisisswitching
switchedon,
off,the
thevehicles
departure rate
start toin the lane
follow = 0.
is µ1,0the
through In the
intersec-
moment the green light is switching on, the vehicles start to follow 1 through the intersection,
tion, and departure rate of the first vehicle in the queue is 𝜇1,1 . The second vehicle follows
and departure rate of the first vehicle in the queue1is µ11,1 . The second vehicle follows
through the intersection with the departure rate 𝜇1,2 and so on up to the last vehicle,
through the intersection
which follow with the
the intersection departure
with rate µ11,2
the departure and𝜇1so1on
rate . up to the last vehicle, which
1,𝑘1
follow the intersection with the departure rate µ11,k1 .
1
Denote the vehicle number in the queue by j, j = 1, 2, . . . , k11 . The expected time
required to the jth vehicle to pass the intersection after switching green light on is

1 j
τ1,j = . (15)
µ11,j
Mathematics 2022, 10, x FOR PEER REVIEW 8 of 15

Mathematics 2022, 10, 3997

Denote the vehicle number in the queue by 𝑗, 𝑗 = 1, 2, … , 𝑘11 . The expected time8 of
re-15
quired to the 𝑗th vehicle to pass the intersection after switching green light on is
1 𝑗
𝜏1,𝑗 = 1 . (15)
𝜇1,𝑗
1
The total time required to k1 vehicles to pass the intersection is
The total time required to 𝑘11 vehicles to pass the intersection is
1 1 k111
T𝑇 11 = τ 11 = 𝑘1 . (16)
1,k
1,𝑘 1
11
= 𝜏
1,k
1,𝑘
111 = µ𝜇11,k
1 . (16)
11
1,𝑘11

1
Dependence
Dependenceofofthe
thetotal time𝑇T1,𝑘
totaltime 11 on
on the
the number
number 𝑘111 ofofvehicles
k vehiclesisisshown
shownininFigure
Figure8,
11 1
1,k1 1
8, where, as above, the departure rates 𝜇1,𝑗 are defined by Equations (3) and (4) with
where, as above, the departure rates µ11,j are defined by Equations (3) and (4) with µ1,0 = 0
𝜇1,0 = 0 and 𝑎 = 𝑏 = 1.
and a = b = 1.

Dependenceofofthe
Figure8.8.Dependence the total 1T 1
time𝑇1,𝑘 onthe number𝑘k1111 of
thenumber of vehicles.
vehicles.The
Thedeparture rates𝜇µ111,j
departurerates
Figure total time 1 1on
1,k
1 1 1,𝑗
aredefined
are definedby
byEquations
Equations(3)(3)and
and(4)
(4)with
withthetheparameters
parameters 𝜇µ1,0 =00 and a𝑎 =
1,0 = = b𝑏 =
= 1.
1.

Noteagain
againthat
thatthe
thetotal
total 1 is equivalent to the time 1τ 1 required to the jth
time𝑇 1T1,k
Note time 1is equivalent to the time 𝜏 1,k 1required to the 𝑗th
1,𝑘11 1 1,𝑘11 1
vehicle to pass the intersection after switching green
vehicle to pass the intersection after switching green light on. light on.
Assumethat
Assume thatthe period𝑡1t111 while
theperiod while green
green light
light in
inlane
lane11isisswitched
switchedon onisisequal
equaltotothe
the
time T11 required to k 11vehicles to pass through the intersection:
time 𝑇 1,k1 required to 𝑘1 vehicles to pass through the intersection:
1
1,𝑘11 1

1 11 1 .
t𝑡111==T𝑇1,k
1,𝑘11. (17)
(17)
1

Then, after the period 𝑡111 green light switches off and yellow light switches on.
Then, after the period t1 green 𝑙light switches off and yellow light switches on.
The yellow utilization period 𝑡l0,1 is defined as follows. At the end of the period1 𝑡11
The yellow utilization
1 period t0,1 is defined as follows. 1At the1end of the period t1 the
the departure rate is 𝜇1,𝑘1 and it is the departure rate 𝜇0,0 = 𝜇1,𝑘1 in the moment of
departure rate is µ1,k1 and it is the departure rate µ10,0 = µ11,k1 in the 1moment of switching
1 1
switching green light 1off and yellow light on. Thus, at this moment 1 traffic intensity is
green light off and yellow light on. Thus, at this1moment traffic intensity is
𝜆
𝜌01 = 1 , (18)
𝜇0,0
1 λ1
ρ = , (18)
and an expected queue length [17], which0is anµ10,0 expected number of vehicles in the queue
[6], is
and an expected queue length [17], which is an expected1number of vehicles in the queue [6], is
𝜌
𝐿1𝑞0 = 𝜌01 𝐿10 = 𝜌01 0 1, (19)
1−𝜌
1 0
1 ρ
where 𝐿10 is an expected number Lof = ρ10 L10 =inρthe
q0 vehicles
1 0
, (19)
0
1 −flow
ρ10 through the intersection at the
moment of switching green light off and yellow light on.
whereNow L10 similarly to Equations
is an expected number (15)
of and (16), we
vehicles have
in the flow through the intersection at the
moment of switching green light1off and 𝑗 yellow light on. 1
𝜏 = 1 , 𝑗 = 1, 2, … , 𝐿𝑞0 , (20)
Now similarly to Equations0,𝑗 (15) 𝜇and
0,𝑗 (16), we have

and an expected total time required to j𝐿1𝑞0 vehicles to utilize the yellow period is
1
τ0,j = 1 , j = 1,12, . . . , L1q0 , (20)
µ0,j
1 𝐿𝑞0
𝑇0,𝐿 1 = 1 1 . (21)
𝑞0 𝜇0,1 −𝜇
1,𝐿1
𝑞0
and an expected total time required to L1q0
vehicles to utilize the yellow period is
1
Dependence of total time 𝑇0,𝐿 1 on the number 𝐿1𝑞0 of vehicles is shown in Figure 9.
𝑞0
L1q0
1
T0,L1 = 1 . (21)
q0 µ0,1 − µ11,L1
q0

1
Dependence of total time T0,L 1
1 on the number L q0 of vehicles is shown in Figure 9.
q0
Mathematics
Mathematics2022,
2022,10,
10,x 3997
FOR PEER REVIEW 9 of
9 of1515

Figure
Figure9.9.Dependence
Dependenceof
ofthe
the total
total time
time T 11 1 on
𝑇0,𝐿 onthe numberL1𝐿1𝑞0ofof
thenumber vehicles.
vehicles. The
The departure
departure rates
rates µ10,j
1
0,L𝑞0
q0
q0
1 1
𝜇0,𝑗
areare defined
defined by by Equations
Equations (5) (5)
andand(6) (6)
withwith
thethe µ 𝜇=
parameters
parameters 0,0µ=
1 𝜇1,𝑘
and
1
1 and 𝑎 = 𝑏 = 1.
a = b = 1.
0,0 1,k11

𝑙l
Following
Followinggeneral
generalrequirement
requirementthat
thatduring
duringthe period𝑡0,1
theperiod t0,1when
whenthetheyellow
yellowlight
lightisis
switched
switchedon onthe thevehicles
vehiclesmust
mustexit
exitthe
theintersection,
intersection,we
weassume
assumethat
thatthis
thisperiod
periodisisequal
equaltoto
11
the time𝑇T0,𝐿
thetime 1
𝑞01
0,L q0

t𝑡10,1
1
0,1 =
11
= T𝑇0,L
0,𝐿1
.. (22)
(22)
𝑞0
q0

1
By
Bythe
thepresented
presentedreasoning
reasoning for for lane 1, we we obtained
obtainedtwo twovalues:
values:the periodt11𝑡when
theperiod 1 when the
1 1
the green light is switched on and
green light is switched on and the period t0,1 whenthe period 𝑡0,1 when the yellow light is switched
the yellow light is switched on, both on,
both
withwith respect
respect to theto the
ratesrates
λ1 and 𝜆1 and 𝜇11 .the
µ11 . By By same
the same reasoning
reasoning applied
applied to the
to the lanelane 2, we
2, we can
can
alsoalso define
define the the
periodperiod
t21 and𝑡12 the
andperiod
the period 2
𝑡0,1
t20,1 , both ,with
bothrespect
with respect to theλ2rates
to the rates and µ 𝜆22 . and
1
𝜇12 . Then, an optimal scheduling of the traffic lights in the intersection is supplied by the
Then, an
following optimal
obvious scheduling of the traffic lights in the intersection is supplied by the
fact.
following obvious fact.
Lemma 2. Throughput in the intersection reaches its maximum if t10,2 = t21 , t10,3 = t20,1 and
1 2 1 2
Lemma
t2 = t112. = t10,1 . in the intersection reaches its maximum if 𝑡0,2 = 𝑡1 , 𝑡0,3 = 𝑡0,1 and
Throughput
, t20,3
2 0,2 1 2 1
𝑡0,2 = 𝑡1 , 𝑡0,3 = 𝑡0,1 .
Proof. Truthiness of the lemma follows directly from the observation (see Lemma 1) that
Proof. Truthiness
for reaching of the departure
a maximal lemma follows directly
rate during thefrom the observation
transportation circle,(see Lemma
for lane 1 the1)period
that
for reaching a maximal departure rate during the transportation
when the green light is switched off must be as short as possible, and for lane 2 this period circle, for lane 1 the pe-
riod when the green light is switched
of lane 1 must be as long as possible, and vice versa. off must be as short as possible, and for lane 2 this
period of lane 1 must be as long as possible, and vice versa. □
Figure 7 represents this synchronization of the switches.
Figure
Finally, 7 represents
let us definethis thesynchronization
criterion for changing of the theswitches.
traffic lights. Assume that the green
lightFinally,
in lane let 1 isus define the
switched on andcriterion for changing
the system is in steady the state.
trafficThen
lights.
theAssume that thein
traffic intensity
green
lane 1light
is in lane 1 is switched on and the system is in steady state. Then the traffic in-
tensity in lane 1 is λ1
ρ11 = 1 , (23)
µ𝜆11
1
𝜌1 = 1 , (23)
and an expected number of the vehicles passing 𝜇1 the intersection in lane 1 is

and an expected number of the vehicles passing 1the intersection in lane 1 is

ρ
L11 1= 𝜌111 1 . (24)
𝐿1 =1 − ρ1 1. (24)
1−𝜌 1

2 11 the
OnOnthetheother
otherhand,
hand,during
duringthe period t𝑡20,2
the period 0,2 = 𝑡t1
1
thenumber
numberofofvehicles
vehiclesininthe
thequeue
queuein
inlane
lane2 2reaches
reachesthe
thevalue
value
n20,2
2 = t0,2
2 2
2 λ 2. (25)
𝑛0,2 = 𝑡0,2 𝜆 . (25)
Then, to satisfy Lemma 2 the green light in lane 1 must be switched off in the moment
whenThen, to satisfy
number Lemma
n20,2 of 2 the
vehicles green
in the lightininlane
queue lane21becomes
must be switched off in
greater than thethe moment
value L11 :
2
when number 𝑛0,2 of vehicles in the queue in lane 2 becomes greater than the value 𝐿11 :
n𝑛20,2
2 > L11, (26)
0,2 > 𝐿11 , (26)
Thesame
The samecriterion
criterionfor
forlane
lane22isiswritten
writtenasas
1
n𝑛10,2 > L𝐿2121,,
0,2 > (27)
(27)
Mathematics2022,
Mathematics 2022,10,
10,xxFOR
FORPEER
PEERREVIEW
REVIEW 10 ofof 15
10 15

Mathematics 2022, 10, 3997 10 of 15

where 𝑛𝑛110,2 isisaanumber

where numberof ofvehicles
vehiclesin inthe
thequeue
queuein inlane
lane11and and 𝐿𝐿221 isisananexpected
expectednumber number
0,2 1
of
of vehicles
vehicles
where 1 passing
n0,2 passing
is a number the intersection
the intersection
of vehicles in in
in thelane
lanequeue 2.
2. 2
in lane 1 and L1 is an expected number of
Thereby,
Thereby,
vehicles passing wethe
we obtained
obtained
intersection themodel
the model
in lane which
which specifiesthe
2. specifies therequired
requiredtimes timesand andcriteria
criteriafor for
scheduling
scheduling
Thereby, traffic
traffic
we lightslights
obtained in a
in athe single
singlemodel lane
lanewhich and in the
and inspecifies simplest
the simplest cross of
cross of two
the required two
times lanes.
lanes.
and In In the next
the next
criteria for
section,we
section,
scheduling weuse usethis
traffic this model
model
lights afor
in for analysis
analysis
single laneof of
and thein
the intersection
intersection
the simplest declared
declared
cross ofin in
two Section
Section
lanes. 2.2.In the next
section, we use this model for analysis of the intersection declared in Section 2.
4.4.Solution
Solutionof ofthetheProblem:
Problem:Control Controlof ofthe
theRoadRoadIntersection
Intersectionwith withFourFourLanes Lanes
4. Solution
Weapply of
applythe the Problem:
thesuggested
suggestedmodels Control
modelsof of the Road
ofscheduling Intersection
schedulingtraffic trafficlights with
lightsin Four
inaasingle Lanes
singlelane laneand andin inthe
the
We
intersection
We apply
intersection ofoftwo
twosuggested
the lanesto
lanes tothe
the intersection
models
intersection offour
of scheduling
of fourlanes.
lanes.
traffic lights in a single lane and in the
intersection of two lanes to the intersection of four lanes.
4.1.Scheduling
4.1. Schedulingthe theTraffic
TrafficLights Lights
4.1. Scheduling the Traffic Lights
Theconsidered
The consideredintersection intersectionof offourfourlaneslanes(see(seeFigure
Figure1) 1)does
doesnot notallow
allowleft leftand andright
right
turns; Thethus,considered
it is the intersection
direct extension of four
of thelanes (see Figure
considered 1) does not
intersection of allow
two left As
lanes. andabove,
right
turns; thus, it is the direct extension of the considered intersection of two lanes. As above,
turns;
werefer
referthus,totheit islane
the the direct
fromsouth extension
south tonorth
northof the astoconsidered
tolane
lane11and and intersection
tothe laneof
thelane fromtwoeastlanes.
towestAs above,
west asto to
we to lane from to as to from east to as
we refer
lane2.2.In to the
Inaddition, lane
addition,we from
wedenote south
denotethe to north
thelanelanefrom as to lane
fromnorthnorthto1 and to
tosouth the
southas lane
aslane from
lane33and east
andthe to
thelanewest
lanefrom as
from to
lane
lane
west2. toIn addition,
east lanewe
aslane denote the lane from north to south as lane 3 and the lane from west
west to east as 4.4.
to east The as lanes
lane 4. and 3 act in parallel and restrict the traffic in the lanes 2 and 4 which also
The lanes 11and 3 act in parallel and restrict the traffic in the lanes 2 and 4 which also
workin The lanes
inparallel
parallel 1 and 3restrict
andrestrict act in parallel
thetraffic
traffic and restrict
inthethelanes
lanes the1traffic
and3.3.in Atthethelanes
same2time, and 4 lanes
time, which also
work and the in 1 and At the same lanes 11and and
work
3 are in parallel
independent and and restrict
do the
not traffic
restrict in
the the lanes
traffic in 1 and
each 3. At
other, the
and same
the time,
same lanes
holds 1for
and the3
3 are independent and do not restrict the traffic in each other, and the same holds for the
are independent
lanes22and and4.4. and do not restrict the traffic in each other, and the same holds for the
lanes
lanesThere
2 andare 4. several ways to schedule the lights in this situation. For example, following
There
There are several
are several ways ways to toschedule
schedule the thelights
lightsin inthis
thissituation.
situation.For Forexample,
example,following
following
the
the model presented in Section 3.2, we can independently schedule the lightsfor for thein- in-
the model
modelpresentedpresentedininSection Section3.2, 3.2, wewe can independently
can independently schedule
schedule thethelights
lights the for the
tersections
tersections of
of of the
thethe lanes
lanes 1
1 andand 2 and
2 and of the lanes 3 and 4, and then synchronize these two
intersections lanes 1 and 2 andofofthe thelanes
lanes3 3and and4,4,and andthen
thensynchronize
synchronizethese thesetwo two
intersections.Or,
intersections. Or,alternatively,
alternatively,we wecan cancombine
combinethe theindependent
independentlanes lanes11and and33into into one
intersections. Or, alternatively, we can combine the independent lanes 1 and 3 into one one lane
laneAAand
lane andthe theindependent
independentlanes lanes22and and44into intoone one laneBBand and thenschedule
schedule thelights lightsin in
A and the independent lanes 2 and 4 into one lanelane B and thenthen schedule the the lights in the
the
the intersection
intersection of
of the the lanes
lanes A
A andand B and
B consider consider
and consider the intersection
the intersection of the lanes A and B.
intersection of the lanes A and B and the intersection of theoflanesthe lanes
A andAB.and Below B.
Below
Below we follow
we follow the
the secondsecond option. The intersection of the combined lanes A and B isis
B
we follow the second option.option. The intersection
The intersection of the of the combined
combined lanes Alanes and A B isand shown
shown
shown in Figure
in Figure 10.
10.
in Figure 10.

10.Intersection
Figure 10.
Figure 10. Intersectionof
Intersection ofcombined
combinedlaneslanesAAandandBBBcontrolled
controlledby
controlled bystandard
by standardred-yellow-green
standard red-yellow-greentraffic
red-yellow-green traffic
traffic
lights a and
lightsaaand
lights b, respectively.
andb,b, respectively. The
respectively. The traffic
Thetraffic lights
traffic lights denoted
lights denoted
denotedby by the
bythe same
the same letter
sameletter are
letterare equal
are equal and
equal and mimic
and mimic each
mimiceach
each
other.
other. The
other. The stop
Thestop lines
stoplines and
lines and the
and the exits
the exits are
exits are denoted
are denoted
denoted by by the
by the dotted
the dotted lines
dotted lines
lines inin bars
in bars
bars . .

Theintersection
The
The intersectionof
intersection ofthe
of thecombined
the combinedlanes
combined lanesisis
lanes isaaasimple
simpleintersection
simple intersectionof
intersection oftwo
of twolanes
two laneswhich
lanes whichcan
which can
can
be directly considered
directly considered
be directly using the model
considered using the model suggested
model suggested in Section
suggested in Section 3.2.
Section 3.2. However, to apply
3.2. However, to apply this
apply this
this
model,the
model, thearrival
arrivaland
anddeparture
departurerates
ratesand
andthe
thenumbers
numbersof ofthe
thevehicles
vehiclesin
inthe
thelanes
lanesmust
must
be defined.
bedefined.
defined.
Mathematics 2022, 10, 3997 11 of 15

To associate the variables and parameters with the lanes A and B we use the upper
indices a and b, respectively. Thus, by λ a and µ a we denote arrival and departure rates
in the lane A and by λb and µb arrival and departure rates in the lane B. Similarly, k a and
kb denote the number of vehicles in the lanes A and B, respectively, t a and tb denote the
periods of switching the lights on and off, and so on for the other variables. The bottom
indices have the same meaning as above.
Parameters of the lanes 1 and 3 and of the lanes 2 and 4 can be combined in several
ways. Following the meaning of the considered task, we define the rates λ a and µ a as
follows. Let
λi
ρi = i , i = 1, . . . , 4, (28)
µ
be the traffic intensities of the lanes 1, . . . , 4, correspondingly. Then traffic intensities of the
lanes A and B, are, respectively,
n o n o
ρ a = max ρ1 , ρ3 and ρb = max ρ2 , ρ4 . (29)

Consequently, the rates λ a , µ a and λb , µb are the ratios of the lanes with maximal traffic
intensity, that is

λ1 if ρ1 > ρ3 , µ1 if ρ1 > ρ3 ,
 
a a
λ = and µ = (30)
λ3 otherwise, µ3 otherwise,

and
λ2 if ρ2 > ρ4 , µ2 if ρ2 > ρ4 ,
 
λb = and µb = (31)
λ4 otherwise, µ4 otherwise.
The further reasoning about the combined lanes A and B literally follows the consider-
ations presented in Section 3.2 and applied to the rates λ a , µ a and λb , µb . As a result, we
obtain the period t1a when in the lane A green light is switched on and the period t01 a when

in the lane A yellow light is switched on. Similarly, for the lane B we obtain the period t1b
when the green light is switched on and the period t01b when the yellow light is switched on.

Then, by Lemma 2 we specify the periods t0,2a = tb and tb = t a during which the red
1 0,2 1
a b
lights are switched on and the periods t0,3 = t0,1 and t0,3b = t a during which the yellow
0,1
lights are switched on.
Finally, we use the calculated periods for definition of the corresponding periods of
switching on green, red, and yellow lights in the lanes 1 and 3 and the lanes 2 and 4. The
periods in the lanes 1 and 3 are defined by the periods in the lane A and the periods in the
lanes 2 and 4 are defined by the periods in the lane B.
From Lemma 2 and Equations (30) and (31), it directly follows that the presented
steps result in maximal throughput in the considered intersection. In the next section we
illustrate this statement and functionality of the intersection by numerical simulations.

4.2. Numerical Simulations

The simulation considers the activity of the intersection of two lanes. The goal of
the simulation is to verify that the suggested method processes the reasonable inputs, in
the considered situation random arrival rates λ1 and λ2 , and that in spite of the growth
of the pass and total times (see Figures 8 and 9), the resulting periods t11 , t21 and t10 , t20 do
not diverge.
The simulation procedure directly implements the presented above formulas. The
outline of the procedure is as follows.
Mathematics 2022, 10, 3997 12 of 15
Mathematics 2022, 10, x FOR PEER REVIEW 12 of 15

Procedure (intersection activity)

Input: periods 𝑡01 and 𝑡02 of green light switched off in lanes 1 and 2,
number of transportation circles 𝑁,
parameters 𝑎 > 0, 𝑏 > 0.
Output: 𝑁 periods 𝑡11 , 𝑡01 and 𝑡12 , 𝑡02 of green light switched on and off in
the lanes 1 and 2, respectively.

1. For 𝑛 = 1 to 𝑁 do:
Lane 1:
2. draw arrival rate 𝜆1 randomly
3. 𝑘11 = 𝜆1 𝑡01 ; {number of vehicles at the entrance}
1
4. 𝜇1,1 = 𝑎𝑒 −𝑏 ; {equation (4) with 𝜇1,0 = 0 and 𝑘 = 1}
1 1 1
5. 𝜇1,𝑘1
1 = 𝑎(𝑒
−𝑏𝑘1
(𝑒 𝑏𝑘1 − 1)⁄(𝑒 𝑏 − 1)); {equation (4) with 𝜇1,0 = 0 and 𝑘 = 𝑘11 }
6. 𝑘01 = 𝑘11 − 𝑘11 𝜌1 ; {number of vehicles at the moment of switching green
1
light off, where 𝜌1 = 𝜆1 ⁄𝜇1,𝑘1
1 , equation (7)}

1 1
7. 𝜇0,0 = 𝜇1,𝑘1
1 ; {initial departure rate, equation (6)}

1 1 1 1
8. 𝜇0,𝑘0
1 = 𝜇0,0 − 𝑎(𝑒
−𝑏𝑘0
(𝑒 𝑏𝑘0 − 1)⁄(𝑒 𝑏 − 1)); {equation (6) with 𝑘 = 𝑘01 }
1
9. 𝑡11 = 𝑘11 ⁄𝜇1,𝑘1
1 ; {period of green light switched on, equation (16), (17)}

1 1
10. 𝑡0,1 = 𝑘01 ⁄(𝜇0,0
1
− 𝜇0,𝑘0
1 ); {period of yellow light switched on before red,

equation (21) and (22), Figure 7}

1 1
11. 𝑡0,3 = 𝑡0,1 ; {period of yellow light switched on after red, Figure 7}
Lane 2:
12. draw arrival rate 𝜆2 randomly
13. 𝑘12 = 𝜆2 𝑡02 ; {number of vehicles at the entrance}
2
14. 𝜇1,1 = 𝑎𝑒 −𝑏 ; {equation (4) with 𝜇1,0 = 0 and 𝑘 = 1}
2 2 2
15. 𝜇1,𝑘1
2 = 𝑎(𝑒
−𝑏𝑘1
(𝑒 𝑏𝑘1 − 1)⁄(𝑒 𝑏 − 1)); {equation (4) with 𝜇1,0 = 0 and 𝑘 = 𝑘12 }
16. 𝑘02 = 𝑘12 − 𝑘12 𝜌2 ; {number of vehicles at the moment of switching green
2
light off, where 𝜌2 = 𝜆2 ⁄𝜇1,𝑘1
2 , equation (7)}

2 2
17. 𝜇0,0 = 𝜇1,𝑘1
2 ; {initial departure rate, equation (6)}

2 2 2 2
18. 𝜇0,𝑘0
2 = 𝜇0,0 − 𝑎(𝑒
−𝑏𝑘0
(𝑒 𝑏𝑘0 − 1)⁄(𝑒 𝑏 − 1)); {equation (6) with 𝑘 = 𝑘02 }
2
19. 𝑡12 = 𝑘12 ⁄𝜇1,𝑘1
2 ; {period of green light switched on, equations (16), (17)}

2 2
20. 𝑡0,1 = 𝑘02 ⁄(𝜇0,0
2
− 𝜇0,𝑘0
2 ); {period of yellow light switched on before red,

equations (21) and (22), Figure 7}

2
21. 𝑡0,2 = 𝑡11 ; {period of red light switched on, Lemma 2}
2 2
22. 𝑡0,3 = 𝑡0,1 ; {period of yellow light switched on after red, Figure 7}
23. 𝑡02 = 𝑡0,1
2 2
+ 𝑡0,2 2
+ 𝑡0,3 ; {period of green light switched off}
Lane 1:
1
24. 𝑡0,2 = 𝑡12 ; {period of red light switched on, see Lemma 2}
25. 𝑡01 = 𝑡0,1
1 1
+ 𝑡0,2 1
+ 𝑡0,3 ; {period of green light switched off}
26. End for.

1 1 1 2
InInaddition,
addition,ininthe
theprocedure,
procedure, the
the conditions λ1 𝜆<
conditions < 𝜇1,𝑘
µ1,k 1 and
1
λ2 𝜆<2 µ
1 and <2 𝜇21,𝑘
1,k
2 (see
(see
1
Equation
Equation (8))
1 1
(8)) were checked and
were checked and preserved. preserved.
Mathematics2022,
Mathematics 2022,10,
10,3997
x FOR PEER REVIEW 13
13 of 15
15

Example
Exampleof ofthe periodst11 ,𝑡11t21, and
theperiods t10 , t20𝑡01during
𝑡12 and , 𝑡02 during
whichwhich
in the in
lanes
the1lanes
and 21green
and 2light is
green
switched on and off
light is switched onisand
shownoff in Figure 11.
is shown In the figure
in Figure 11. Inthe
thestarting periods
figure the t10 and
starting t20 when
periods 𝑡01
green 2
and 𝑡0light is switched
when off is
green light are t10 = t20 =
switched off10are and𝑡01parameters
= 𝑡02 = 10 and
a = parameters
b = 1. 𝑎 = 𝑏 = 1.

(a) (b)
Figure 11.
11. Periods
Periodsduring
duringwhich
whichthethegreen light
green is is
light switched on on
switched (𝑡1 )(tand off (𝑡0 ) in Lane 1 (a) and
Figure 1 ) and off (t0 ) in Lane 1 (a)
Lane 2 (b). In the figure, solid line depicts the periods 𝑡1 when the green light is switched on and
and Lane 2 (b). In the figure, solid line depicts the periods t1 when the green light is switched
dashed line depicts the periods 𝑡0 of the green light is switched off. The dotted line denotes the
on and dashed line depicts the periods t0 of1 the green light is switched off. The dotted line denotes
random values of the scaled arrival rates 𝜆 (lane 1, (a)) and 𝜆2 (lane 2, (b)).
1 2
the random values of the scaled arrival rates λ (lane 1, (a)) and λ (lane 2, (b)).
The periods 𝑡 and 𝑡 , during which the green light is switched on and off, coincide
The periods t11and1t0 ,0during which the green light is switched on and off, coincide
with the arrival rates 𝜆 and 𝜆0 and preserve finite values. As it was expected, the peri-
with the arrival rates λ1 and λ0 and preserve finite values. As it was expected, the periods
ods 𝑡 and 𝑡0 , on one hand, correlate with the1rates 𝜆01 and 𝜆0 in the same lane, but on
t1 and1t0 , on one hand, correlate with the rates λ and λ in the same lane, but on the other
the other hand, depend on the arrival rate on the crossing lane.
hand, depend on the arrival rate on the crossing lane.
5. Discussion
5. Discussion
The queues
The queues theory
theory is is one
one of of the
the basic
basic tools
tools used
used in in traffic
traffic analysis
analysis andand traffic
traffic light
light
control,and
control, andits itsbasic
basicprinciples
principlesareare considered
considered in the
in the textbooks
textbooks on transportation
on transportation engi-
engineer-
neering
ing [3,9]. [3,9].
TheseThese techniques
techniques are used areboth
used to both to describe
describe and analyze and of analyze of the
the traffic traffic on
on highways
highways
and to developand tothedevelop the control
control schemes schemes
of the trafficof the traffic
lights lights in
in the roads’ the roads’ intersec-
intersections.
tions.The suggested model continues this tradition of modelling traffic in the road intersec-
tions.The suggested
However, model continues
in contrast to the existingthis tradition
models, of modelling
which are based traffic
on in the road
M/M/1 inter-
queues,
itsections.
considers However,
the M/M in ncontrast
/1 queue to with
the existing models,rates
the departure which are basedon
depending 𝑀/𝑀/1
on the vehiclequeues,
num-
it considers
ber in the queue.the 𝑀/𝑀 Such 𝑛 /1
anqueue
approach withallows
the departure
scheduling ratesthedepending
traffic lightson the
usingvehicle num-
one input
ber in the queue.
measurable parameter,Such the an approach
arrival rate allows
to thescheduling
intersection, thewhile
trafficthe lights using rates
departure one input
and,
measurable parameter,
consequently, the periodsthe arrival rate
of switching thetolights
the intersection,
on and off, are while the departure
calculated rates and,
using parameters
consequently,
of the intersection the and
periods of switching
heuristic dependence the lights
of the on and off,rate
departure areon calculated
the vehicleusing param-
number in
the
etersqueue.
of the intersection and heuristic dependence of the departure rate on the vehicle
number Thisin heuristic
the queue. dependence is the most questionable issue in the model. On one hand,
it is clear that thesedependence
This heuristic dependences formost
is the green lights switching
questionable issue in ontheand off are
model. Ondefined
one hand,by
monotonically
it is clear that decreasing
these dependences and increasingfor greenfunctions, respectively,
lights switching onandandthatoff these functions
are defined by
must obtain thedecreasing
monotonically intersection and properties
increasing as functions,
parameters. On the other
respectively, and hand,
that the
theseform of the
functions
functions
must obtain andthetheir dependence
intersection on the intersection’s
properties as parameters. parameters
On the other are arbitrary
hand, theand formmust be
of the
defined with respect to the considered situation.
functions and their dependence on the intersection’s parameters are arbitrary and must
In the paper,
be defined we considered
with respect the simplest
to the considered intersection without turns, pedestrian cross-
situation.
ing, bus In thestops,
paper,and wesoconsidered
on, and verified the model
the simplest for thiswithout
intersection intersection. In addition,
turns, pedestrian we
cross-
had not considered the issue of accident avoidance. We assumed
ing, bus stops, and so on, and verified the model for this intersection. In addition, we had that during the yellow
utilization
not considered period thethe vehicles
issue will exit
of accident from the We
avoidance. intersection
assumedand thatwill free the
during the yellow
intersection
utili-
for the vehicles starting to enter from the crossing lane after
zation period the vehicles will exit from the intersection and will free the intersection red light switching off. In the
for
next studies, starting
the vehicles and especially
to enter infrom
the intersections
the crossingwith laneturns, this light
after red issueswitching
must be considered
off. In the
in
nextdetail. As itand
studies, follows for numerical
especially simulations,
in the intersections with theturns,
model thiscorrectly
issue must processes the rea-
be considered
sonable
in detail.inputs
As it and provides
follows the lights’simulations,
for numerical scheduling,the which
model correctly
correctlyreacts on the counted
processes the rea-
arrival rates.
sonable inputs and provides the lights’ scheduling, which correctly reacts on the counted
arrival rates.
Mathematics 2022, 10, 3997 14 of 15

The suggested model complements the existing queue theory models of scheduling
traffic lights [6,7,18], and can be used as a generic basis for modeling specific intersections
and controlling the traffic lights.
Implementation of the suggested model, even in its current simple form, to scheduling
traffic lights may help to prevent traffic jams in intersections and resolve vehicle queues
with reasonable waiting times in the crossing lanes.

6. Conclusions
In the paper, we presented a new model for scheduling traffic lights in the controlled
intersection. Following the model, the intersection is described by alternating M/Mn /1
queues with state-dependent departure rates.
Given the parameters of the intersection, the departure rate of each vehicle is calculated
with respect to the vehicle’s number in the queue. Then, the periods during which the
traffic lights are switched on and off are specified with respect to these departure rates and
the arrival rates in the lanes, which are considered as input values.
The presented model is the first attempt of applying state-dependent queues to the
problem of intersection scheduling. However, even in its current form, the model clearly
describes the intersection activity and results in the reasonable scheduling.
The activity of the intersection and its scheduling according to the suggested model
were validated by numerical simulations which justify the suggested approach.

Author Contributions: Conceptualization, Y.E. and E.K.; methodology, Y.E. and E.K.; software, E.K.
and A.N.; formal analysis, E.K.; investigation, Y.E. and E.K.; resources, E.K. and A.N.; writing—original
draft preparation, E.K.; writing—review and editing, A.N. and E.K.; visualization, E.K. and A.N.;
supervision, E.K. All authors have read and agreed to the published version of the manuscript.
Funding: This research received no external funding.
Institutional Review Board Statement: Not applicable.
Informed Consent Statement: Not applicable.
Data Availability Statement: Not applicable.
Conflicts of Interest: The authors declare no conflict of interest.

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