Modeling traffic signal control systems using timed colour Petri nets

In this paper we present timed colour Petri nets (TCPN) to model a sophisticated traffic signal control system. The traffic signals that has not only red, amber, and green lights but also has the green lights that includes straightforward, turn left and turn right signals. Especially, at the same time, other direction can allow the vehicles turn right on the red light. To our knowledge, this is the first time work that proposed a methodology to model the extended four-phase traffic signal control system using TCPN. Comparison with Petri nets, our method can easily observe the duration time of each traffic signal. Furthermore, our system's structure is compactness and its interpretation is explicit. The liveness and reversibility of the traffic signal control system model is approved.