Multi-modal traffic signal control with priority,signal actuation and coordination

Both coordinated-actuated signal control systems and signal priority control systems have been widely deployed for the last few decades. However, these two control systems are often conflicting with each due to different control objectives. This paper aims to address the conflicting issues between actuated-coordination and multi-modal priority control. Enabled by vehicle-to-infrastructure (v2i) communication in Connected Vehicle Systems, priority eligible vehicles, such as emergency vehicles, transit buses, commercial trucks, and pedestrians are able to send request for priority messages to a traffic signal controller when approaching a signalized intersection. It is likely that multiple vehicles and pedestrians will send requests such that there may be multiple active requests at the same time. A request-based mixed-integer linear program (MILP) is formulated that explicitly accommodate multiple priority requests from different modes of vehicles and pedestrians while simultaneously considering coordination and vehicle actuation. Signal coordination is achieved by integrating virtual coordination requests for priority in the formulation. A penalty is added to the objective function when the signal coordination is not fulfilled. This “soft” signal coordination allows the signal plan to adjust itself to serve multiple priority requests that may be from different modes. The priority-optimal signal timing is responsive to real-time actuations of non-priority demand by allowing phases to extend and gap out using traditional vehicle actuation logic. The proposed control method is compared with state-of-practice transit signal priority (TSP) both under the optimized signal timing plans using microscopic traffic simulation. The simulation experiments show that the proposed control model is able to reduce average bus delay, average pedestrian delay, and average passenger car delay, especially for highly congested condition with a high frequency of transit vehicle priority requests.     

Automated transit headway control via adaptive signal priority

This paper reports on a study that developed a next‐generation Transit Signal Priority (TSP) strategy, Adaptive TSP, that controls adaptively transit operations of high frequency routes using traffic signals, thus automating the operations control task and relieving transit agencies of this burden. The underlying algorithm is based on Reinforcement Learning (RL), an emerging Artificial Intelligence method. The developed RL agent is responsible for determining the best duration of each signal phase such that transit vehicles can recover to the scheduled headway taking into consideration practical phase length constraints. A case study was carried out by employing the microscopic traffic simulation software Paramics to simulate transit and traffic operations at one signalized intersection along the King Streetcar route in downtown Toronto. The results show that the control policy learned by the agent could effectively reduce the transit headway deviation and causes smaller disruption to cross street traffic compared with the existing unconditional transit signal priority algorithm.     

Microscopic simulation of transit operations: policy studies with the MISTRANSIT application programming interface

Abstract

Microscopic traffic simulators are the most advanced tools for representing the movement of vehicles on a transport network. However, the energy spent in traffic microsimulation has been mainly oriented to cars. Little interest has been devoted to more sophisticated models for simulating transit systems. Commercial software has some options to incorporate the operation of transit vehicles, but they are insufficient to properly consider a real public transport system. This paper develops an Application Programming Interface, called MIcroscopic Simulation of TRANSIT (MISTRANSIT), using the commercial microsimulator PARAllel MICroscopic Simulation. MISTRANSIT makes advances in three ways: public transport vehicles can have new characteristics; passengers are incorporated and traced as individual objects; and specific models represent the interaction between passengers and vehicles at stops. This paper presents the modelling approach as well as various experiments to illustrate the feasibility of MISTRANSIT for studying policy operations of transit systems.     

Alterations to the transyt-7F model to represent near-side transit stops

Transit vehicles stopping to load/unload passengers on-line at a signalized intersection can obstruct the flow of other vehicles. The TRANSYT model ignores the delay to other traffic caused by this loading/unloading process. This can cause TRANSYT to use incorrect flow profiles, resulting in signal timings that cater to these profiles rather than the actual ones. This paper describes a new model for representing near-side transit stops in lanes shared by public transit and private vehicles, and its implementation into the TRANSYT-7F program. The results of an initial application of the proposed model are also described. The proposed model, which is a deterministic simulation model, is able to represent the effect of near-side transit stops on the other traffic; this representation covers both total and partial blockage of the approaches during the transit loading. The procedure has been incorporated into the TRANSYT-7F program. This allows appropriate representation of the adverse effects of transit loading on-line during a green phase. It thus encourages the TRANSYT optimizer to push transit loading to the red phases.     

Arterial traffic signal optimization: A person-based approach

This paper presents a real-time signal control system that optimizes signal settings based on minimization of person delay on arterials. The system’s underlying mixed integer linear program minimizes person delay by explicitly accounting for the passenger occupancy of autos and transit vehicles. This way it can provide signal priority to transit vehicles in an efficient way even when they travel in conflicting directions. Furthermore, it recognizes the importance of schedule adherence for reliable transit operations and accounts for it by assigning an additional weighting factor on transit delays. This introduces another criterion for resolving the issue of assigning priority to conflicting transit routes. At the same time, the system maintains auto vehicle progression by introducing the appropriate delays associated with interruptions of platoons. In addition to the fact that it utilizes readily available technologies to obtain the inputs for the optimization, the system’s feasibility in real-world settings is enhanced by its low computation time. The proposed signal control system is tested on a four-intersection segment of San Pablo Avenue arterial located in Berkeley, California. The findings show the system’s capability to outperform pretimed (i.e., fixed-time) optimal signal settings by reducing total person delay. They have also demonstrated its success in reducing bus person delay by efficiently providing priority to transit vehicles even when they travel in conflicting directions.     

Self-organizing traffic signals using secondary extension and dynamic coordination

Actuated traffic signal control logic has many advantages because of its responsiveness to traffic demands, short cycles, effective use of capacity leading to and recovering from oversaturation, and amenability to aggressive transit priority. Its main drawback has been its inability to provide good progression along arterials. However, the traditional way of providing progression along arterials, coordinated–actuated control with a common, fixed cycle length, has many drawbacks stemming from its long cycle lengths, inflexibility in recovering from priority interruptions, and ineffective use of capacity during periods of oversaturation. This research explores a new paradigm for traffic signal control, “self-organizing signals,” based on local actuated control but with some additional rules that create coordination mechanisms. The primary new rules proposed are for secondary extensions, in which the green may be held to serve an imminently arriving platoon, and dynamic coordination, in which small groups of closely spaced signals communicate with one another to cycle synchronously with the group’s critical intersection. Simulation tests in VISSIM performed on arterial corridors in Massachusetts and Arizona show overall delay reductions of up to 14% compared to an optimized coordinated–actuated scheme where there is no transit priority, and more than 30% in scenarios with temporary oversaturation. Tests also show that with self-organizing control, transit signal priority can be more effective than with coordinated–actuated control, reducing transit delay by about 60%, or 12 to 14 s per intersection with little impact on traffic delay.     

An application of transyt for mixed car/streetcar operation

While the TRANSYT model for optimization of fixed-time traffic signals in a network of mixed transit and private vehicle traffic is well established, certain interactions between transit and nontransit vehicles are not properly modelled in TRANSYT. As a consequence, the optimal signal timing plan and network performance measures generated by TRANSYT may not be appropriate for the actual network. This paper briefly reviews a modelling procedure, adapted for use in the TRANSYT program, that goes some way toward overcoming TRANSYT's deficiencies in the representation of mixed traffic operation. The procedure is applied to a 6 kilometre corridor of mixed traffic operation in Toronto, Canada, to estimate the potential effects of incorporating streetcar operations in the optimization of fixed-time traffic signals.     

Cooperation in transit delivery in West German metropolitan areas

West Germany is densely populated, averaging 245 inhabitants/km², but varying widely between urban agglomerations and rural areas. Transport volume has increased by 40% since 1970, with virtually all growth due to private automobiles. Since 1981 public transit has been suffering from decreasing demand.A 1964 Expert's Report to the German federal government was the stimulus for initiating an effective funding mechanism for new public transit construction. In 1965 Germany's first federated transit authority was founded for the region of Hamburg.Principal among the goals of any cooperative agreement among transit companies are improvements for the passengers and improvement of revenues for the companies. To attain these ends, two distinct forms of transit aggrements have been developed in Germany: transit cooperative (Verkehrsgemeinschaft) and transit federation (Verkehrsverbund). The former is more suitable for smaller to medium-sized towns, while the latter is more suitable for larger cities. The two types are described in this article.German transit federations during the 1970s succeeded in significantly increasing ridership, while during the 1980s patronage has either remained steady or has declined. Yet transit federations showed much better perfomance than did public transit in general. In terms of costs and revenues, no public transit organization in Germany is able to break even; deficits vary between 42% and 55%. The author concludes, however, that hidden subsidies for automobile traffic are far higher, because of environmental damage and the high social cost of traffic accidents.     

Hierarchical model predictive control for multi-lane motorways in presence of Vehicle Automation and Communication Systems

A widespread deployment of vehicle automation and communication systems (VACS) is expected in the next years. This may lead to improvements in traffic management efficiency because of the novel possibilities of using VACS both as sensors and as actuators, as well as of a variety of new communications channels (vehicle-to-vehicles, vehicle-to-infrastructure) and related opportunities. To achieve this traffic flow efficiency, appropriate studies, developing potential control strategies to exploit the VACS availability, are essential. This paper describes a hierarchical model predictive control framework that can be used for the coordinated and integrated control of a motorway system, considering that an amount of vehicles are equipped with specific VACS. The concept employs and exploits the synergistic (integrated) action of a number of old and new control measures, including ramp metering, vehicle speed control, and lane changing control at a macroscopic level. The effectiveness and the computational feasibility of the proposed approach are demonstrated via microscopic simulation for a variety of penetration rates of equipped vehicles.     

Representing stochastic transit dwell times in traffic signal optimization

It has been demonstrated that while the TRANSYT traffic model simulates transit vehicles in mixed traffic operation, it does not adequately consider the effects of bus or streetcar stops on the travelled roadway near signalized intersections. Its assumption that the transit vehicles do not hold up other vehicles while they are loading and unloading passengers is also invalid when midblock stops occur in the travelled lanes. To account for the effects of transit stops, an alternative type of network formulation which uses dummy nodes and dummy links with appropriate link costs is proposed for modelling the effects of transit stops. It approximates transit stop dwells by discrete distributions, requiring 1 dummy node and 4 dummy links for each nonzero value used in the approximating distribution. Realism for such operation can be improved significantly, usually with the use of only 1 or 2 dummy nodes per transit stop. Parameters for the dummy links have been tested over a wide range, and a set of operational values is recommended. Flow profiles illustrating the need for and the effects of the recommended formulation are presented in the paper.     

Integrated optimization of bus priority operations in connected vehicle environment

Most previous works associated with transit signal priority merely focus on the optimization of signal timings, ignoring both bus speed and dwell time at bus stops. This paper presents a novel approach to optimize the holding time at bus stops, signal timings, and bus speed to provide priority to buses at isolated intersections. The objective of the proposed model is to minimize the weighted average vehicle delays of the intersection, which includes both bus delay and impact on nearby intersection traffic, ensuring that buses clear these intersections without being stopped by a red light. A set of formulations are developed to explicitly capture the interaction between bus speed, bus holding time, and transit priority signal timings. Experimental analysis is used to show that the proposed model has minimal negative impacts on general traffic and outperforms the no priority, signal priority only, and signal priority with holding control strategies (no bus speed adjustment) in terms of reducing average bus delays and stops. A sensitivity analysis further demonstrates the potential of the proposed approach to be applied to bus priority control systems in real‐time under different traffic demands, bus stop locations, and maximum speed limits. Copyright © 2016 John Wiley & Sons, Ltd.     

A new approach to evaluating on-road public transport priority projects: balancing the demand for limited road-space

Despite widespread growth in on-road public transport priority schemes, road management authorities have few tools to evaluate the impacts of these schemes on all road users. This paper describes a methodology developed in Melbourne, Australia to assist the road management authority, VicRoads, evaluate trade-offs in the use of its limited road-space for new bus and tram priority projects. The approach employs traffic micro-simulation modelling to assess road-space re-allocation impacts, travel behaviour modelling to assess changes in travel patterns and a social cost benefit framework to evaluate impacts. The evaluation considers a comprehensive range of impacts including the environmental benefits of improved public transport services. Impacts on public transport reliability improvements are also considered. Although improved bus and tram reliability is a major rationale for traffic priority its use in previous evaluations is rare. The paper critiques previous approaches, describes the proposed method and explores some of the results found in its application. A major finding is that despite a more comprehensive approach to measuring the benefits of bus and tram priority, road-space reallocation is difficult to economically justify in road networks where public transport usage is low and car usage high. Strategies involving the balanced deployment of bus and tram priority measures where the allocation of time and space to PT minimises negative traffic impacts is shown to improve the overall management of road-space. A discussion of the approach is also provided including suggestions for further methodology development.

Controlling vehicular emissions in Beijing during the last decade

The vehicle population of Beijing is sharply increasing at an average annual rate of 14.5%, causing severe transportation and environmental problems. The Beijing municipal government and the public have worked hard to control vehicular emissions since 1995. Strategies and measures have been introduced to regulate land use and traffic planning, emission control of in-use vehicles and new vehicles, fuel quality improvement, introduction of clean fuel vehicle technology and fiscal incentives. New development plans for Beijing will change the transportation structure by encouraging public transportation. For in-use vehicles, the I/M program has employed ASM tests since early 2003 and the government has encouraged the retirement of high-emission vehicles. For new vehicles, Beijing introduced Euro 1 and Euro 2 emission standards in early 1999 and 2003, respectively. It is also confirmed that Euro 3 standards will be introduced in 2005. At the same time, the fuel quality in Beijing was improved significantly, by banning lead and reducing sulfur among other changes. CNG and LPG were introduced in 1999 and are used in buses and taxis. Today Beijing has the largest CNG bus fleet in the world with more than 2000 dedicated CNG buses. Beijing has also focused on fiscal incentives such as tax deductions for new vehicles meeting enhanced emission standards to encourage their sales. These strategies and measures have had an impact on the control of vehicular emissions. Despite the rapid increase of the vehicle population by 60% between 1998 and 2003, total vehicular emissions have not increased. With the enhancement of vehicular emission control, the air quality in Beijing is improving as the city strives to its goal for a “Green Olympics”.     

Short-term impact analysis of fuel price policy change on travel demand in Malaysian cities

Abstract

Malaysia is one of the few countries in the world that provides a fuel subsidy to consumers. Due to the recent economic crisis, the Malaysian Government decided to revise its fuel subsidization policy from a fixed price subsidy to a floating price subsidy dependent on global oil demand. Recognizing that the change in fuel subsidization policy can have an impact on travel behavior, this article investigates the short-term impact of the policy change on private and public transportation in the Klang Valley region of Malaysia. Spectral analyses are performed to investigate if the policy change has an impact on private vehicle travel demand, measured in terms of road traffic, and short-term travel demand elasticity with respect to fuel price is estimated. To measure the impact on the public transportation system, the demand cross-elasticity values of rail transit and buses are also estimated. It was found that traffic flow reduces with an increase in fuel price, although elasticity and cross-elasticity values obtained are low. The article finds that there is a potential mode shift from private vehicles to rail transit with increasing fuel price. It is demonstrated that reducing fuel price subsidy can be an effective travel demand management strategy to alleviate congestion.     

How to assess the benefits of connected vehicles? A simulation framework for the design of cooperative traffic management strategies

Advances in Information and Communication Technologies (ICT) allow the transportation community to foresee dramatic improvements for the incoming years in terms of a more efficient, environmental friendly and safe traffic management. In that context, new ITS paradigms like Cooperative Systems (C-ITS) enable an efficient traffic state estimation and traffic control. C-ITS refers to three levels of cooperation between vehicles and infrastructure: (i) equipped vehicles with Advanced Driver Assistance Systems (ADAS) adjusting their motion to surrounding traffic conditions; (ii) information exchange with the infrastructure; (iii) vehicle-to-vehicle communication. Therefore, C-ITS makes it possible to go a step further in providing real time information and tailored control strategies to specific drivers. As a response to an expected increasing penetration rate of these systems, traffic managers and researchers have to come up with new methodologies that override the classic methods of traffic modeling and control. In this paper, we discuss some potentialities of C-ITS for traffic management with the methodological issues following the expansion of such systems. Cooperative traffic models are introduced into an open-source traffic simulator. The resulting simulation framework is robust and able to assess potential benefits of cooperative traffic control strategies in different traffic configurations.     

Evaluation of a model predictive control framework for motorway traffic involving conventional and automated vehicles

A Model Predictive Control (MPC) strategy for motorway traffic management, which takes into account both conventional control measures and control actions executed by vehicles equipped with Vehicle Automation and Communication Systems (VACS), is presented and evaluated using microscopic traffic simulation. A stretch of the motorway A20, which connects Rotterdam to Gouda in the Netherlands, is taken as a realistic test bed. In order to ensure the reliability of the application results, extensive speed and flow measurements, collected from the field, are used to calibrate the site’s microscopic traffic simulation model. The efficiency of the MPC framework, applied to this real sizable and complex network under realistic traffic conditions, is examined for different traffic conditions and different penetration rates of equipped vehicles. The adequacy of the control application when only VACS equipped vehicles are used as actuators, is also considered, and the related findings underline the significance of conventional control measures during a transition period or in case of increased future demand.     

城乡公交车违规停车的危害性探讨

城乡公交车站点长时间停车等客,站外随意停车等违规现象十分普遍,文章针对这一情况,通过交通事故案例分析,找出城乡公交车违规停车现象存在的原因,指出了违规停车的危害性并提出解决方法.     

Forward power-train energy management modeling for assessing benefits of integrating predictive traffic data into plug-in-hybrid electric vehicles

In this paper, a forward power-train plug-in hybrid electric vehicle model with an energy management system and a cycle optimization algorithm is evaluated for energy efficiency. Using wirelessly communicated predictive traffic data for vehicles in a roadway network, as envisioned in intelligent transportation systems, traffic prediction cycles are optimized using a cycle optimization strategy. This resulted in a 56-86% fuel efficiency improvements for conventional vehicles. When combined with the plug-in hybrid electric vehicle power management system, about 115% energy efficiency improvements were achieved. Further improvements in the overall energy efficiency of the network were achieved with increased penetration rates of the intelligent transportation assisted enabled plug-in hybrid electric vehicles.     

A driving force model for non-strict priority crossing behaviors of right-turn drivers

At urban intersections, conflicts between right-turn vehicles and through non-motorized vehicles are a critical cause of traffic congestion and safety challenges. Based on the fact that in different countries there is no strict priority in conflicts between motorized and non-motorized vehicles, this study focused on analysis of the inherent mechanism of this universal phenomenon. By the analogy of a force model for moving vehicles, this paper developed a micro driving force model, including the safety driving force and efficiency driving force, for right-turn drivers which constitute the dominant party during the non-strict priority crossing process. We further demonstrate that the strict priority crossing behavior is a special case of the proposed driving force model. All the parameters used in this model were calibrated through field data collected at twelve signalized intersection sites in Shanghai. Model validation results proved the accuracy and reliability of the proposed driving force model. The model was further proved that it can be used for right-turn vehicle's average crossing speed prediction. The sensitivity analysis identified the influence of vehicle type, non-motorized traffic flow rate, and non-motorized traffic speed on the average speed, and offered support for the rationality of the non-strict priority.     

Modelling passengers,buses and stops in traffic microsimulation: review and extensions

In the last decade, significant research efforts and technology have been dedicated to the development of microsimulation tools for a better representation of traffic systems. As a result, several commercial packages appeared and they are used nowadays in the detailed modelling of different transportation systems and operations for specific project evaluations and local designs, mostly within the urban context. After reviewing the specialized literature, we realized that most of these microsimulation tools are oriented to the movement of cars, leaving the public transportation systems as a complement, just for a realistic representation of the transportation system as a whole, but always oriented to simulate cars. In this paper, the objective is to provide guidelines on how to incorporate the necessary entities and components for a proper simulation of public transport systems in a microsimulation environment. Thus, the different approaches to simulate transit systems at a microlevel are discussed, highlighting the necessity of including stops, passengers and transit vehicles explicitly as entities within the microsimulation environment, for modelling transfer operations, control strategies, etc. Several examples are then provided to quantify the impact of such representations, for different cases and potential simulation platforms. Copyright © 2010 John Wiley & Sons, Ltd.