针对模糊控制算法的不足，建立了双模控制器，用传统的PID算法优化模糊控制器。

For the shortage of fuzzy controller, the double model controller was adopted, optimizing fuzzy controller through traditional PID controller.

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然后，采用了模糊控制技术，分别设计了普通模糊控制器、模糊-PID双模控制器及模糊自整定PID控制器。

Then, by researching on fuzzy control technology, the paper designs ordinary fuzzy controller, fuzzy-PID dual-mode controller and fuzzy self-tuning PID controller.

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提出了一种基于双模糊控制器的单交叉口模糊交通控制方法。

A two-fuzzy traffic controller for the isolated intersection is presented.

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