Vehicle scheduling under stochastic trip times: An approximate dynamic programming approach

Due to unexpected demand surge and supply disruptions, road traffic conditions could exhibit substantial uncertainty, which often makes bus travelers encounter start delays of service trips and substantially degrades the performance of an urban transit system. Meanwhile, rapid advances of information and communication technologies have presented tremendous opportunities for intelligently scheduling a bus fleet. With the full consideration of delay propagation effects, this paper is devoted to formulating the stochastic dynamic vehicle scheduling problem, which dynamically schedules an urban bus fleet to tackle the trip time stochasticity, reduce the delay and minimize the total costs of a transit system. To address the challenge of “curse of dimensionality”, we adopt an approximate dynamic programming approach (ADP) where the value function is approximated through a three-layer feed-forward neural network so that we are capable of stepping forward to make decisions and solving the Bellman’s equation through sequentially solving multiple mixed integer linear programs. Numerical examples based on the realistic operations dataset of bus lines in Beijing have demonstrated that the proposed neural-network-based ADP approach not only exhibits a good learning behavior but also significantly outperforms both myopic and static polices, especially when trip time stochasticity is high.     

Impacts of built environment and emerging green technologies on daily transportation greenhouse gas emissions in Quebec cities: a disaggregate modeling approach

This paper aims to investigate the impact of the built environment (BE) and emerging transit and car technologies on household transport-related greenhouse gas emissions (GHGs) across three urban regions. Trip-level GHG emissions are first estimated by combining different data sources such as origin–destination (OD) surveys, vehicle fleet fuel consumption rates, and transit ridership data. BE indicators for the different urban regions are generated for each household and the impact of neighborhood typologies is derived based on these indicators. A traditional ordinary least square (OLS) regression approach is then used to investigate the direct association between the BE indicators, socio-demographics, and household GHGs. The effect of neighborhood typologies on GHGs is explored using both OLS and a simultaneous equation modeling approach. Once the best models are determined for each urban region, the potential impact of BE is determined through elasticities and compared with the impact of technological improvements. For this, various fuel efficiency scenarios are formulated and the reductions on household GHGs are determined. Once the potential impact of green transit and car technologies is determined, the results are compared to those related to BE initiatives. Among other results, it is found that BE attributes have a statistically significant effect on GHGs. However, the elasticities are very small, as reported in several previous studies. For instance, a 10 % increase in population density will result in 3.5, 1.5 and 1.4 % reduction in Montreal, Quebec and Sherbrooke, respectively. It is also important to highlight the significant variation of household GHGs among neighborhoods in the same city, variation which is much greater than among cities. In the short term, improvements on the private passenger vehicle fleet are expected to be much more significant than BE and green transit technologies. However, the combined effect of BE strategies and private-motor vehicle technological improvement would result in more significant GHGs reductions in the long term.     

Feeder-trunk or direct lines? Economies of density,transfer costs and transit structure in an urban context

A feeder-trunk scheme has been labeled as superior in urban areas due to the presence of economies of density (decreasing average operating cost) along the avenues served by trunk lines. We compare this structure against three types of direct lines structures (no transfers) to serve a stylized public transport network where several flows converge into a main avenue, simultaneously optimizing fleet and vehicle sizes considering both users’ and operators’ costs. The best structure is shown to depend not only on the total passenger volume but also on demand imbalance, demand dispersion in the origins and the length of the trunk line. The region where the feeder-trunk structure dominates depends largely on the value assigned to the pure transfer penalty.     

The travel and environmental implications of shared autonomous vehicles,using agent-based model scenarios

Carsharing programs that operate as short-term vehicle rentals (often for one-way trips before ending the rental) like Car2Go and ZipCar have quickly expanded, with the number of US users doubling every 1–2 years over the past decade. Such programs seek to shift personal transportation choices from an owned asset to a service used on demand. The advent of autonomous or fully self-driving vehicles will address many current carsharing barriers, including users’ travel to access available vehicles.This work describes the design of an agent-based model for shared autonomous vehicle (SAV) operations, the results of many case-study applications using this model, and the estimated environmental benefits of such settings, versus conventional vehicle ownership and use. The model operates by generating trips throughout a grid-based urban area, with each trip assigned an origin, destination and departure time, to mimic realistic travel profiles. A preliminary model run estimates the SAV fleet size required to reasonably service all trips, also using a variety of vehicle relocation strategies that seek to minimize future traveler wait times. Next, the model is run over one-hundred days, with driverless vehicles ferrying travelers from one destination to the next. During each 5-min interval, some unused SAVs relocate, attempting to shorten wait times for next-period travelers.Case studies vary trip generation rates, trip distribution patterns, network congestion levels, service area size, vehicle relocation strategies, and fleet size. Preliminary results indicate that each SAV can replace around eleven conventional vehicles, but adds up to 10% more travel distance than comparable non-SAV trips, resulting in overall beneficial emissions impacts, once fleet-efficiency changes and embodied versus in-use emissions are assessed.     

Tracking a system of shared autonomous vehicles across the Austin,Texas network using agent-based simulation

This study provides a large-scale micro-simulation of transportation patterns in a metropolitan area when relying on a system of shared autonomous vehicles (SAVs). The six-county region of Austin, Texas is used for its land development patterns, demographics, networks, and trip tables. The agent-based MATSim toolkit allows modelers to track individual travelers and individual vehicles, with great temporal and spatial detail. MATSim’s algorithms help improve individual travel plans (by changing tour and trip start times, destinations, modes, and routes). Here, the SAV mode requests were simulated through a stochastic process for four possible fare levels: $0.50, $0.75, $1, and $1.25 per trip-mile. These fares resulted in mode splits of 50.9, 12.9, 10.5, and 9.2% of the region’s person-trips, respectively. Mode choice results show longer-distance travelers preferring SAVs to private, human-driven vehicles (HVs)—thanks to the reduced burden of SAV travel (since one does not have to drive the vehicle). For travelers whose households do not own an HV, SAVs (rather than transit, walking and biking) appear preferable for trips under 10 miles, which is the majority of those travelers’ trip-making. It may be difficult for traditional transit services and operators to survive once SAVs become available in regions like Austin, where dedicated rail lines and bus lanes are few. Simulation of SAV fleet operations suggest that higher fare rates allow for greater vehicle replacement (ranging from 5.6 to 7.7 HVs per SAV, assuming that the average SAV serves 17–20 person-trips per day); when fares rise, travel demands shift away from longer trip distances. Empty vehicle miles traveled by the fleet of SAVs ranged from 7.8 to 14.2%, across the scenarios in this study. Implications of mobility and sustainability benefits of SAVs are also discussed in the paper.     

The impact of a new rapid transit system on traffic on parallel highway facilities

This study analyzes data of traffic crossing San Francisco Bay and passing through the Berkeley Hills via Caldecott Tunnel to determine the effect of the opening in 1974 of the Bay Area Rapid Transit System (BART) transbay line. There was a sudden shift in trend lines in 1974; vehicle volumes dropped, transit patronage jumped, but total person trips in the short run followed roughly the trends of the previous eight years. Since 1974, the growth rate in person trips through the Berkeley Hills appears to have remained about the same, while transbay vehicle and transit traffic have increased at a more rapid rate. The increase in transit patronage is particularly noticeable between the morning and afternoon peaks and probably represents new trips by shoppers and sightseers. Whereas other factors, such as the increase in the price of gasoline between October 1973 and July 1974 may have contributed a little to the sudden change in the long‐range trends in 1974, it is believed that the major cause was the opening of the BART network to transbay travel.

     

A double standard model for allocating limited emergency medical service vehicle resources ensuring service reliability

This paper introduces a new double standard model (DSM), along with a genetic algorithm (GA), for solving the emergency medical service (EMS) vehicle allocation problem that ensures acceptable service reliability with limited vehicle resources. Without loss of generality, the model is formulated to address emergency services to human injuries caused by vehicle crashes at intersections within an urban street network. The EMS fleet consists of basic life support (BLS) and advanced life support (ALS) vehicles suited for treating crashes with different severity levels within primary and secondary service coverage standards corresponding to extended response times. The model ensures that all demand sites are covered by at least one EMS vehicle within the secondary standard and a portion of which also meets the service reliability requirement. In addition, a portion of demand sites can be covered by at least one of each type of EMS vehicles within the primary standard. Meanwhile, it aims to achieve maximized coverage of demand sites within the primary standard that complies with the required service reliability. A computational experiment is conducted using 2004–2010 data on top two hundred high crash intersections in the city of Chicago as demand sites for model application. With an EMS fleet size of 15 BLS and 60 ALS ambulances maintained by the Chicago Fire Department, at best 92.4–95.5% of demand could be covered within the secondary standard at 90% of service reliability; and 65.5–68.4% of high severity demand and 50.2–54.5 low severity demand could be covered within the primary standard at 90% of service reliability. The model can help optimize EMS vehicle allocation in urban areas.     

Green vehicle technology to enhance the performance of a European port: A simulation model with a cost-benefit approach

In this paper, we study the impact of using a new intelligent vehicle technology on the performance and total cost of a European port, in comparison with existing vehicle systems like trucks. Intelligent autonomous vehicles (IAVs) are a new type of automated guided vehicles (AGVs) with better maneuverability and a special ability to pick up/drop off containers by themselves. To identify the most economical fleet size for each type of vehicle to satisfy the port’s performance target, and also to compare their impact on the performance/cost of container terminals, we developed a discrete-event simulation model to simulate all port activities in micro-level (low-level) details. We also developed a cost model to investigate the present values of using two types of vehicle, given the identified fleet size. Results of using the different types of vehicles are then compared based on the given performance measures such as the quay crane net moves per hour and average total discharging/loading time at berth. Besides successfully identifying the optimal fleet size for each type of vehicle, simulation results reveal two findings: first, even when not utilising their ability to pick up/drop off containers, the IAVs still have similar efficacy to regular trucks thanks to their better maneuverability. Second, enabling IAVs’ ability to pick up/drop off containers significantly improves the port performance. Given the best configuration and fleet size as identified by the simulation, we use the developed cost model to estimate the total cost needed for each type of vehicle to meet the performance target. Finally, we study the performance of the case study port with advanced real-time vehicle dispatching/scheduling and container placement strategies. This study reveals that the case study port can greatly benefit from upgrading its current vehicle dispatching/scheduling strategy to a more advanced one.     

Built environment and pedestrian behavior at rail rapid transit stations in Bangkok

Urbanization and demands for mobility have spurred the development of mass rapid transit infrastructure in industrializing Asia. Differences between the character of pre-existing urban structure in these localities and worldwide precedents suggest a need for studies examining how new rapid transit systems function locally. This study of Bangkok’s elevated and underground rail systems identifies relationships between the built environment and pedestrian behavior surrounding stations. Based on details of 1,520 pedestrian egress trips from three elevated and three underground stations in 2006, multiple regression and analysis of variance (ANOVA) revealed that types of pedestrian destinations, reflecting land uses, were related to length of walking egress trips. Trips to shopping centers and office buildings were longer, while trips to eating places were shorter. The most common type of pedestrian trip recorded was to another vehicle, and trips to automobile taxis and motorcycle taxis figured prominently. Policy implications of the findings are considered.     

Shared autonomous electric vehicle (SAEV) operations across the Austin,Texas network with charging infrastructure decisions

Shared autonomous vehicles, or SAVs, have attracted significant public and private interest because of their opportunity to simplify vehicle access, avoid parking costs, reduce fleet size, and, ultimately, save many travelers time and money. One way to extend these benefits is through an electric vehicle (EV) fleet. EVs are especially suited for this heavy usage due to their lower energy costs and reduced maintenance needs. As the price of EV batteries continues to fall, charging facilities become more convenient, and renewable energy sources grow in market share, EVs will become more economically and environmentally competitive with conventionally fueled vehicles. EVs are limited by their distance range and charge times, so these are important factors when considering operations of a large, electric SAV (SAEV) fleet.This study simulated performance characteristics of SAEV fleets serving travelers across the Austin, Texas 6-county region. The simulation works in sync with the agent-based simulator MATSim, with SAEV modeling as a new mode. Charging stations are placed, as needed, to serve all trips requested (under 75 km or 47 miles in length) over 30 days of initial model runs. Simulation of distinctive fleet sizes requiring different charge times and exhibiting different ranges, suggests that the number of station locations depends almost wholly on vehicle range. Reducing charge times does lower fleet response times (to trip requests), but increasing fleet size improves response times the most. Increasing range above 175 km (109 miles) does not appear to improve response times for this region and trips originating in the urban core are served the quickest. Unoccupied travel accounted for 19.6% of SAEV mileage on average, with driving to charging stations accounting for 31.5% of this empty-vehicle mileage. This study found that there appears to be a limit on how much response time can be improved through decreasing charge times or increasing vehicle range.     

Social and spatial effects of transforming the private vehicle fleet in Brisbane,Australia

Transformation of the motor vehicle fleet has been an important feature of the world’s peak car phenomenon. Very few urban transport studies have explored such important changes in large urban cities. Using an innovative green vehicle datasets constructed for 2009 and 2014, this paper investigates the ongoing change in urban private vehicle fleet efficiency (VFE) in Brisbane. The spatial patterns of VFE change were examined with social-spatial characteristics of the urban area. The results showed that the social and spatial effect of VFE changes remain uneven over urban space. The inner urban areas have experienced higher level of VFE change, whilst people in the outer and oil vulnerable areas showed a low tendency in shifting to more efficient vehicles. The implication of VFE change for future household vehicle adoption was also evaluated based on a cost-benefit analysis of new vehicle technology costs and expected fuel savings for households that choose a fuel efficient vehicle. The results show that imposing a stronger national fuel economy target in the long term would accelerate evolution of vehicle fleets and oil vulnerability reduction in Brisbane.     

Evaluating unintended outcomes of regional smart-growth strategies: Environmental justice and public health concerns

Many urban areas are perusing infill, transit oriented, and other “smart-growth” strategies to address a range of important regional goals. Denser and more mixed use urban development may increase sustainability and improve public health by reducing vehicle travel and increasing the share of trips made by transit, walking and bicycling. Fewer vehicle trips results in fewer greenhouse gas and toxic vehicle emissions, and more trips made by walking and bicycle increases physical activity. Prior research has largely focused on modeling and estimating the potential size of these and other smart-growth strategy benefits. A largely overlooked area is the potential for unexpected public health costs and environmental justice concerns that may result from increasing density. We evaluate regional land-use and transportation planning scenarios developed for the year 2040 by a metropolitan planning organization with a newly developed regional air quality modeling framework. Our results find that a set of regional plans designed by the MPO to promote smart-growth that are estimated to result in less vehicle use and fewer vehicle emissions than a more typical set of plans results in higher population exposure to toxic vehicle emissions. The smart-growth plans also result in greater income-exposure inequality, raising environmental justice concerns. We conclude that a more spatially detailed regional scale air quality analysis can inform the creation of smarter smart-growth plans.     

Linking land use with household vehicle emissions in the central puget sound: methodological framework and findings

A leading cause of air pollution in many urban regions is mobile source emissions that are largely attributable to household vehicle travel. While household travel patterns have been previously related with land use in the literature (Crane, R., 1996. Journal of the American Planning Association 62 (1, Winter); Cervero, R. and Kockelman, C., 1997. Transportation Research Part D 2 (3), 199–219), little work has been conducted that effectively extends this relationship to vehicle emissions. This paper describes a methodology for quantifying relationships between land use, travel choices, and vehicle emissions within the Seattle, Washington region. Our analysis incorporates land use measures of density and mix which affect the proximity of trip origins to destinations; a measure of connectivity which impacts the directness and completeness of pedestrian and motorized linkages; vehicle trip generation by operating mode; vehicle miles/h of travel and speed; and estimated household vehicle emissions of nitrogen oxides, volatile organic compounds, and carbon monoxide. The data used for this project consists of the Puget Sound Transportation Panel Travel Survey, the 1990 US Census, employment density data from the Washington State Employment Security Office, and information on Seattle’s vehicle fleet mix and climatological attributes provided by the Washington State Department of Ecology. Analyses are based on a cross-sectional research design in which comparisons are made of variations in household travel demand and emissions across alternative urban form typologies. Base emission rates from MOBILE5a and separate engine start rates are used to calculate total vehicle emissions in grams accounting for fleet characteristics and other inputs reflecting adopted transportation control measures. Emissions per trip are based on the network distance of each trip, average travel speed, and a multi-stage engine operating mode (cold start, hot start, and stabilized) function.     

Simulation model performance analysis of a multiple station shared vehicle system

As an alternative transportation paradigm, shared vehicle systems have become increasingly popular in recent years. Shared vehicle systems typically consist of a fleet of vehicles that are used several times each day by different users. One of the main advantages of shared vehicle systems is that they reduce the number of vehicles required to meet total travel demand. An added energy/emissions benefit comes when low-polluting (e.g., electric) vehicles are used in the system. In order to evaluate operational issues such as vehicle availability, vehicle distribution, and energy management, a unique shared vehicle system computer simulation model has been developed. As an initial case study, the model was applied to a resort community in Southern California. The simulation model has a number of input parameters that allow for the evaluation of numerous scenarios. Several measures of effectiveness have been determined and are calculated to characterize the overall system performance. For the case study, it was found that the most effective number of vehicles (in terms of satisfying customer wait time) is in the range of 3–6 vehicles per 100 trips in a 24 h day. On the other hand, if the number of relocations also is to be minimized, there should be approximately 18–24 vehicles per 100 trips. Various inputs to the model were varied to see the overall system response. The model shows that the shared vehicle system is most sensitive to the vehicle-to-trip ratio, the relocation algorithm used, and the charging scheme employed when electric vehicles are used. A preliminary cost analysis was also performed, showing that such a system can be very competitive with present transportation systems (e.g., rental cars, taxies, etc.).     

Optimization-based study of the location of park-and-ride facilities

Park-and-ride facilities are parking lots located on the periphery of cities to intercept car trips coming from the suburbs and diverting them to a transit system, thus playing a potentially important role in reducing traffic congestion and air pollution in urban areas. In this paper, we present a study carried out to shed light on where to install park-and-ride facilities in the city of Coimbra, central Portugal. Its main component is an optimization model which aims to determine the best possible locations for a given number of park-and-ride facilities under the objective of minimizing car use in the urban areas. The main result of the study is that the introduction of only three park-and-ride facilities could reduce car use in Coimbra's urban areas by 19%, an impact that would be very difficult to achieve through measures such as decreasing bus fares, increasing parking fees and/or increasing bus services.     

Using structural equations modeling to unravel the influence of land use patterns on travel behavior of workers in Montreal

This paper addresses the relations between travel behavior and land use patterns using a Structural Equations Modeling (SEM) framework. The proposed model structure draws on two earlier models developed for Lisbon and Seattle which show significant effects of land use patterns on travel behavior. The travel behavior variables included here are multifaceted including commuting distance, car ownership, the amount of mobility by mode (car, transit and non-motorized modes), both in terms of total kilometers travelled and number of trips. The model also includes a travel scheduling variable, which is the total time spent between the first and last trips to reflect daily constraints in time allocation and travel.The modeled land use variables measure the levels of urban concentration and density, diversity, both in terms of types of uses and the mix between jobs and inhabitants/residents, the transport supply levels, transit and road infrastructure, and accessibility indicators. The land use patterns are described both at the residence and employment zones of each individual included in the model by using a factor analysis technique as a data reduction and multicollinearity elimination technique. In order to explicitly account for self selection bias the land use variables are explicitly modeled as functions of socioeconomic attributes of individuals and their households.The results obtained show that people with different socioeconomic characteristics tend to work and live in places of substantially different urban environments. But besides these socioeconomic self-selection effects, land use variables significantly affect travel behavior. More precisely the effects of land use are in great part passed thru variables describing long term decisions like commuting distance, and car ownership. These results point to similar conclusions from the models developed for Lisbon and Seattle and thus give weight to the use of land use policies as tools for changing travel behavior.     

Influential vectors in fuel consumption by an urban bus operator: Bus route,driver behavior or vehicle type?

Energy costs account for an important share of the total costs of urban and suburban bus operators. The purpose of this paper is to expand empirical research on bus transit operation costs and identify the key factors that influence bus energy efficiency of the overall bus fleet of one operator and aid to the management of its resources.We estimate a set of multivariate regression models, using cross-section dataset of 488 bus drivers operating over 92 days in 2010, in 87 routes with different bus typologies, of a transit company operating in the Lisbon’s Metropolitan Area (LMA), Rodoviária de Lisboa, S.A.Our results confirm the existence of influential variables regarding energy efficiency and these are mainly: vehicle type, commercial speed, road grades over 5% and bus routes; and to a lesser extent driving events such as: sudden longitudinal decelerations and excessive engine rotation. The methodology proved to be useful for the bus operator as a decision-support tool for efficiency optimization purpose at the company level.     

The impact of a financial constraint on the spatial structure of public transport services

Using a single line model, it has been shown recently that the presence of a stringent financial constraint induces a less than optimal bus frequency and larger than optimal bus size. This occurs because the constraint induces a reduction of the importance of users’ costs (their time); in the extreme, users’ costs disappear from the design problem. In this paper we show that such a constraint also has an impact on the spatial structure of transit lines. This is done departing from the single line model using an illustrative urban network that could be served either with direct services (no transfers) or with corridors (transfers are needed). First, the optimal structure of lines is investigated along with frequencies and vehicle sizes when the full costs for users and operators are minimized (unconstrained case); the optimal lines structure is shown to depend upon the patronage level, the values of time and the cost of providing bus capacity. Then the same problem is solved for the extreme case of a stringent financial constraint, in which case users’ costs have relatively little or no effect in determining the solution; in this case the preferred outcome would be direct services under all circumstances, with lower frequencies and larger bus sizes. The impact of the financial constraint on the spatial structure of transit lines is shown to be caused by the reduction in cycle time under direct services; the introduction of users’ costs in the objective function makes waiting times reverse this result under some circumstances.     

The Downs–Thomson paradox with imperfect mode substitutes and alternative transit administration regimes

The Downs–Thomson paradox (D–T paradox) occurs when expansion of a congested and untolled highway undermines scale economies of a competing transit service, leaving users of both modes worse off. The standard analysis of the D–T paradox is based on several stringent assumptions: fixed total travel demand, perfect substitutability between automobile and transit trips, and no transit crowding. This paper re-examines the paradox when these assumptions are relaxed while retaining the usual assumption that there is no congestion interaction between the modes. It also broadens consideration to alternative transit administration regimes. In the standard treatment the transit operator is obliged to cover its costs. In this paper we also study two other regimes: transit profit maximization, and system-wide welfare maximization with no financing constraint. We examine how the transit system operator responds to highway capacity expansion in each regime, and how this affects welfare for drivers and transit users. We show that in all regimes the full price of transit declines only if the full price of driving falls as well. Thus, drivers are more likely to benefit from highway expansion than transit riders. The D–T paradox cannot occur in the profit maximization or unconstrained welfare maximization regimes. In the traditional self-financing regime transit service deteriorates, but the D–T paradox is not inevitable. Numerical analysis suggests that it can occur only when automobile and transit trips are nearly perfect substitutes.