Estimation of bus dwell time using univariate time series models

A significant proportion of bus travel time is contributed by dwell time for passenger boarding and alighting. More accurate estimation of bus dwell time (BDT) can enhance efficiency and reliability of public transportation system. Regression and probabilistic models are commonly used in literatures where a set of independent variables are used to define the statistical relationship between BDT and its contributing factors. However, due to technical and monetary constraints, it is not always feasible to collect all the data required for the models to work. More importantly, the contributing factors may vary from one bus route to another. Time series based methods can be of great interest as they require only historical time series data, which can be collected using a facility known as automatic vehicle location (AVL) system. This paper assesses four different time series based methods namely random walk, exponential smoothing, moving average (MA), and autoregressive integrated moving average to model and estimate BDT based on AVL data collected from Auckland. The performances of the proposed methods are ranked based on three important factors namely prediction accuracy, simplicity, and robustness. The models showed promising results and performed differently for central business district (CBD) and non‐CBD bus stops. For CBD bus stops, MA model performed the best, whereas for non‐CBD bus stops, ARIMA model performed the best compared with other time series based models. Copyright © 2014 John Wiley & Sons, Ltd.     

On the use of Lagrangian observations from public transport and probe vehicles to estimate car space-mean speeds in bi-modal urban networks

The Macroscopic Fundamental Diagram (MFD) has been recognized as a powerful framework to develop network-wide control strategies. Recently, the concept has been extended to the three-dimensional MFD, used to investigate traffic dynamics of multi-modal urban cities, where different transport modes compete for, and share the limited road infrastructure. In most cases, the macroscopic traffic variables are estimated using either loop detector data (LDD) or floating car data (FCD). Taking into account that none of these data sources might be available, in this study we propose novel estimation methods for the space-mean speed of cars based on: (i) the automatic vehicle location (AVL) data of public transport where no FCD is available; and (ii) the fused FCD and AVL data sources where both are available, but FCD is not complete. Both methods account for the network configuration layout and the configuration of the public transport system. The first method allows one to derive either uni-modal or bi-modal macroscopic fundamental relationships, even in the extreme cases where no LDD nor FCD exist. The second method does not require a priori knowledge about FCD penetration rates and can significantly improve the estimation accuracy of the macroscopic fundamental relationships. Using empirical data from the city of Zurich, we demonstrate the applicability and validate the accuracy of the proposed methods in real-life traffic scenarios, providing a cross-comparison with the existing estimation methods. Such empirical comparison is, to the best of our knowledge, the first of its kind. The findings show that the proposed AVL-based estimation method can provide a good approximation of the average speed of cars at the network level. On the other hand, by fusing the FCD and AVL data, especially in case of sparse FCD, it is possible to obtain a more representative outcome regarding the performance of multi-modal traffic.     

Using non-real-time Automatic Vehicle Location data to improve bus services

Although real-time Automatic Vehicle Location (AVL) data is being utilised successfully in the UK, little notice has been given to the benefits of historical (non-real-time) AVL data. This paper illustrates how historical AVL data can be used to identify segments of a bus route which would benefit most from bus priority measures and to improve scheduling by highlighting locations at which the greatest deviation from schedule occurs. A new methodology which uses historical AVL data and on-bus passenger counts to calculate the passenger arrival rate at stops along a bus route has been used to estimate annual patronage and the speed of buses as they move between stops. Estimating the patronage at stops using AVL data is more cost-effective than conventional methods (such as surveys at stops which require much more manpower) but retains the benefits of accuracy and stop-specific estimates of annual patronage. The passenger arrival rate can then be used to calculate how long buses spend at stops. If the time buses spend at stops is removed from the total time it takes the bus to traverse a link, the remaining amount of time can be assumed to be the time the bus spends moving and hence the moving speed of the bus can be obtained. It was found that estimation of patronage and the speed of buses as they move between stops using AVL data produced results which were comparable with those obtained by other methods. However the main point to note is that this new method of estimating patronage has the potential to provide a larger and superior data set than is otherwise available, at very low cost.     

Rethinking bus punctuality by integrating Automatic Vehicle Location data and passenger patterns

This paper investigates punctuality at bus stops. Although it is typically evaluated from the point of view of bus operators, it must also account for users, as required in recent service quality norms. Therefore, evaluating punctuality at bus stops is highly important, but may also be a complex task, because data on both bus arrivals (or departures) and users must be taken into account and processed. Data on buses can be collected by Automatic Vehicle Location (AVL) systems, but several challenges must be addressed in order to use them effectively. Passengers data at bus stops cannot be derived from AVL, but they can be used to derive passenger patterns and need to be integrated into processed AVL data. This paper proposes a new punctuality measure defined as the fraction of passengers who will be served within an acceptably short interval after they arrive. A method is proposed to determine this measure: it provides (i) several rules to handle AVL collected data, (ii) a procedure integrating processed AVL data and potential passengers’ patterns and (iii) a hierarchical process to perform the punctuality measure on each bus route direction of a transit network, as well as for every bus stop and time period. The paper illustrates the experimentation of this method on more than 4,000,000 data of a real bus operator and represents outcomes by easy-to-read control dashboards.     

Estimation of population origin–interchange–destination flows on multimodal transit networks

Previous research has combined automated fare-collection (AFC) and automated vehicle-location (AVL) data to infer the times and locations of passenger origins, interchanges (transfers), and destinations on multimodal transit networks. The resultant origin–interchange–destination flows (and the origin–destination (OD) matrices that comprise those flows), however, represent only a sample of total ridership, as they contain only those journeys made using the AFC payment method that have been successfully recorded or inferred. This paper presents a method for scaling passenger-journey flows (i.e., linked-trip flows) using additional information from passenger counts at each station gate and bus farebox, thereby estimating the flows of non-AFC passengers and of AFC passengers whose journeys were not successfully inferred.The proposed method is applied to a hypothetical test network and to AFC and AVL data from London’s multimodal public transit network. Because London requires AFC transactions upon both entry and exit for rail trips, a rail-only OD matrix is extracted from the estimated multimodal linked-trip flows, and is compared to a rail OD matrix generated using the iterative proportional fitting method.     

Passengers' perceptions and effects of bus‐holding strategy using automatic vehicle location technology

This study reports bus passengers' behavior and perceptions related to the use of potential features of an automatic vehicle location (AVL) system in bus transit through conducting an attitudinal on‐board survey in Bangkok. A passenger waiting‐time survey conducted as part of this study revealed that passengers perceive waiting‐time at bus stops to be greater than actually experienced. The other aim of this study is to examine the potential benefits of bus‐holding using an AVL technology, in terms of waiting‐time, through minimizing bus bunching under different congestion levels. The results are obtained using PARAMICS, and reveal a significant reduction in average waiting‐time.     

Multiple period optimization of bus transit systems

Analytic models are developed for optimizing bus services with time dependence and elasticity in their demand characteristics. Some supply parameters, i.e. vehicle operating costs and speeds are also allowed to vary over time. The multiple period models presented here allow some of the optimized system characteristics (e.g. route structure) to be fized at values representing the best compromise over different time periods, while other characteristics (e.g. service headways) may be optimized within each period. In a numerical example the demand is assumed to fluctuate over a daily cycle (e.g. peak, offpeak and night), although the same models can also be used for other cyclical or noncyclical demand variations over any number of periods. Models are formulated and compared for four types of conditions, which include steady fixed demand, cyclical fixed demand, steady equilibrium demand and cyclical equilibrium demand. When fixed demand is assumed, the optimization objective is minimum total system cost, including operator cost and user cost, while operator profit and social welfare are the objective functions maximized for equilibrium demand. The major results consist of closed form solutions for the route spacings, headways, fares and costs for optimized feeder bus services under various demand conditions. A comparison of the optimization results for the four cases is also presented. When demand and bus operating characteristics are allowed to vary over time, the optimal functions are quite similar to those for steady demand and supply conditions. The optimality of a constant ratio between the headway and route spacing, which is found at all demand densities if demand is steady, is also maintained with a multi-period adjustment factor in cyclical demand cases, either exactly or with a relatively negligible approximation. These models may be used to analyze and optimize fairly complex feeder or radial bus systems whose demand and supply characteristics may vary arbitrarily over time.     

Bus congestion, optimal infrastructure investment and the choice of a fare collection system in dedicated bus corridors

Microeconomic optimisation of scheduled public transport operations has traditionally focused on finding optimal values for the frequency of service, capacity of vehicles, number of lines and distance between stops. In addition, however, there exist other elements in the system that present a trade-off between the interests of users and operators that have not received attention in the literature, such as the optimal selection of a fare payment system and a designed running speed (i.e., the cruising speed that buses maintain in between two consecutive stops). Alternative fare payment methods (e.g., on-board and off-board, payment by cash, magnetic strip or smart card) have different boarding times and capital costs, with the more efficient systems such as a contactless smart card imposing higher amounts of capital investment. Based on empirical data from several Bus Rapid Transit systems around the world, we also find that there is a positive relationship between infrastructure cost per kilometre and commercial speed (including stops), achieved by the buses, which we further postulate as a linear relationship between infrastructure investment and running speed. Given this context, we develop a microeconomic model for the operation of a bus corridor that minimises total cost (users and operator) and has five decision variables: frequency, capacity of vehicles, station spacing, fare payment system and running speed, thus extending the traditional framework. Congestion, induced by bus frequency, plays an important role in the design of the system, as queues develop behind high demand bus stops when the frequency is high. We show that (i) an off-board fare payment system is the most cost effective in the majority of circumstances; (ii) bus congestion results in decreased frequency while fare and bus capacity increase, and (iii) the optimal running speed grows with the logarithm of demand.     

Real-time bus route state forecasting using particle filter and mesoscopic modeling

In the absence of system control strategies, it is common to observe bus bunching in transit operations. A transit operator would benefit from an accurate forecast of bus operations in order to control the system before it becomes too disrupted to be restored to a stable condition. To accomplish this, we present a general bus prediction framework. This framework relies on a stochastic and event-based bus operation model that provides sets of possible bus trajectories based on the observation of current bus positions, available via global positioning system (GPS) data. The median of the set of possible trajectories, called a particle, is used as the prediction. In particular, this enables the anticipation of irregularities between buses. Several bus models are proposed depending on the dwell and inter-stop running time representations. These models are calibrated and applied to a real case study thanks to the high quality data provided by TriMet (the Portland, Oregon, USA transit district). Predictions are finally evaluated by an a posteriori comparison with the real trajectories. The results highlight that only bus models accounting for the bus load can provide valid forecasts of a bus route over a large prediction horizon, especially for headway variations. Accounting for traffic signal timings and actual traffic flows does not significantly improves the prediction. Such a framework paves the way for further development of refined dynamic control strategies for bus operations.     

Passenger travel characteristics and bus operational states: a study based on IC card and GPS data in Yinchuan,China

ABSTRACT

In recent years, public transport has been developing rapidly and producing large amounts of traffic data. Emerging big data-mining techniques enable the application of these data in a variety of ways. This study uses bus intelligent card (IC card) data and global positioning system (GPS) data to estimate passenger boarding and alighting stations. First, an estimation model for boarding stations is introduced to determine passenger boarding stations. Then, the authors propose an innovative uplink and downlink information identification model (UDI) to generate information for estimating alighting stations. Subsequently, the estimation model for the alighting stations is introduced. In addition, a transfer station identification model is also developed to determine transfer stations. These models are applied to Yinchuan, China to analyze passenger flow characteristics and bus operations. The authors obtain passenger flows based on stations (stops), bus lines, and traffic analysis zones (TAZ) during weekdays and weekends. Moreover, average bus operational speeds are obtained. These findings can be used in bus network planning and optimization as well as bus operation scheduling.     

Measuring inefficiency in the Norwegian bus industry using multi-directional efficiency analysis

This paper deals with methods of measuring and analyzing efficiency in the transport industry. The aim of the paper is to introduce and demonstrate the advantages of Multi-directional Efficiency Analysis (MEA) in the case of cost data with limited substitution possibilities. For this purpose we reconsider the Norwegian bus data that has previously been analyzed using econometric models and Data Envelopment Analysis; Jørgensenet al. (1995, 1997) and Odeck and Alkadi (2001). It is shown how, using MEA, it becomes possible to disaggregate inefficiency into different components corresponding to different types of cost generating variables and thereby providing both managers of the bus companies and policy makers with more detailed information on possible improvements in performance.     

What is behind fare evasion in urban bus systems? An econometric approach

Fare evasion is a problem in many public transport systems around the world and policies to reduce it are generally aimed at improving control and increasing fines. We use an econometric approach to attempt explaining the high levels of evasion in Santiago, Chile, and guide public policy formulation to reduce this problem. In particular, a negative binomial count regression model allowed us to find that fare evasion rates on buses increase as: (i) more people board (or alight) at a given bus door, (ii) more passengers board by a rear door, (iii) buses have higher occupancy levels (and more doors) and (iv) passengers experience longer headways. By controlling these variables (ceteris paribus), results indicate that evasion is greater during the afternoon and evening, but it is not clear that it is higher during peak hours. Regarding socioeconomic variables, we found that fare evasion at bus stops located in higher income areas (municipalities) is significantly lower than in more deprived areas. Finally, based on our results we identified five main methods to address evasion as alternatives to more dedicated fine enforcement or increased inspection; (i) increasing the bus fleet, (ii) improving the bus headway regularity, (iii) implementing off-board payment stations, (iv) changing the payment system on board and (v) changing the bus design (number of doors or capacity). Our model provides a powerful tool to predict the reduction of fare evasion due to the implementation of some of these five operational strategies, and can be applied to other bus public transport systems.     

Analyzing transit service reliability using detailed data from automatic vehicular locator systems

The widespread adoption of automated vehicle location (AVL) systems and automatic passenger counters (APCs) in the transit industry has opened new venues in operations and system monitoring. In 2005, Metro Transit, Minnesota, implemented AVL system and partially implemented APC technologies. To date there has been little effort to employ the collected data in evaluating transit performance. This research uses such data to assess performance issues along a cross‐town route in the Metro Transit system. We generate a series of visual and analytical analyses to predict run time, schedule adherence and reliability of the transit route at two scales: the time point segment and the route level to demonstrate ways of identifying causes of decline in reliability levels. The analytical models show that while headways are maintained, schedule revisions are needed to improve run time and schedule adherence. Finally, the analysis suggests that many scheduled stops along this route are underutilized and recommends stop consolidation as a tool to decrease variability of service through concentrating passenger demand along a fewer number of stops. Copyright © 2010 John Wiley & Sons, Ltd.     

Crowding in public transport systems: Effects on users,operation and implications for the estimation of demand

The effects of high passenger density at bus stops, at rail stations, inside buses and trains are diverse. This paper examines the multiple dimensions of passenger crowding related to public transport demand, supply and operations, including effects on operating speed, waiting time, travel time reliability, passengers’ wellbeing, valuation of waiting and in-vehicle time savings, route and bus choice, and optimal levels of frequency, vehicle size and fare. Secondly, crowding externalities are estimated for rail and bus services in Sydney, in order to show the impact of crowding on the estimated value of in-vehicle time savings and demand prediction. Using Multinomial Logit (MNL) and Error Components (EC) models, we show that alternative assumptions concerning the threshold load factor that triggers a crowding externality effect do have an influence on the value of travel time (VTTS) for low occupancy levels (all passengers sitting); however, for high occupancy levels, alternative crowding models estimate similar VTTS. Importantly, if demand for a public transport service is estimated without explicit consideration of crowding as a source of disutility for passengers, demand will be overestimated if the service is designed to have a number of standees beyond a threshold, as analytically shown using a MNL choice model. More research is needed to explore if these findings hold with more complex choice models and in other contexts.     

Contribution to the design of the Athletes Bus Network during the Athens 2004 Olympic Games

This paper describes important aspects of the design of the Athletes transportation system for the Athens 2004 Olympic Games. The unique characteristics of this network include the close dependence of the vehicle schedules on the competition and training program, the requirement for 100% service reliability, as well as the requirement for full system monitoring and control. In this paper we present methods for the development of service specifications, estimation of the bus fleet size, the design of the network’s organization and management system, and corresponding critical implementation issues. All these issues are relevant to the design and management of bus transport systems for large events.     

A bus route evaluation model based on GIS and super-efficient data envelopment analysis

When compared to large cities in developed countries, the shares of public transportation in most Chinese cities are low. Increasing the competitiveness of urban public transportation remains an urgent problem. A capable evaluation method for public transportation is required to assist the development of urban transit systems. This paper focuses on the bus system. Being devoid of standard criteria, it is difficult to determine the efficiency of a transit system or any bus line using a single evaluation index. This paper proposes a comparative analysis to evaluate bus lines so as to filter out candidates for further optimization. From the viewpoints of transit planning, operation and quality of service, this paper establishes 10 subordinate evaluation indices and then uses geographical information system tools, global positioning system data and smart card data to assist the index definition and calculation. Super-efficient data envelopment analysis (DEA) method is adopted for the proposed single factor and comprehensive evaluation models. Finally, the bus system in Shenzhen, China is used as a case study. The comparable significant results validate the capability of the proposed model.     

Efficiency measurement in public transport: Are findings specification sensitive?

The need to measure transit system performance along with its various dimensions such as efficiency and effectiveness has led to the development of a wide array of approaches and vast literature. However, depending upon the specific approach used to examine performance, different conclusions are oftentimes reached. Using data from 15 European transit systems for a ten year time period (1990-2000), this paper discusses three important transit performance questions; (i) Do different efficiency assessment methodologies produce similar results? (ii) How are the two basic dimensions of transit performance, namely efficiency and effectiveness, related? and (iii) Are findings regarding organizational regimes (public operations, contracting and so on) sensitive to the methodological specifications employed? Results clearly indicate that efficiency scores and associated recommendations are sensitive to the models used, while efficiency and effectiveness are - albeit weakly - negatively related; these two findings can have far reaching policy implications.     

Crash prediction with behavioral and physiological features for advanced vehicle collision avoidance system

Real-time crash prediction is the key component of the Vehicle Collision Avoidance System (VCAS) and other driver assistance systems. The further improvements of predictability requires the systemic estimation of crash risks in the driver-vehicle-environment loop. Therefore, this study designed and validated a prediction method based on the supervised learning model with added behavioral and physiological features. The data samples were extracted from 130 drivers’ simulator driving, and included various features generated from synchronized recording of vehicle dynamics, distance metrics, driving behaviors, fixations and physiological measures. In order to identify the optimal configuration of proposed method, the Discriminant Analysis (DA) with different features and models (i.e. linear or quadratic) was tested to classify the crash samples and non-crash samples. The results demonstrated the significant improvements of accuracy and specificity with added visual and physiological features. The different models also showed significant effects on the characteristics of sensitivity and specificity. These results supported the effectiveness of crash prediction by quantifying drivers’ risky states as inputs. More importantly, such an approach also provides opportunities to integrate the driver state monitoring into other vehicle-mounted systems at the software level.     

ITS applications in public transport: Improving the service to the transport system

This paper examines all the disparate technologies and techniques capable of smoothing the integration of public transport modes and services at both the urban and interurban scale. The paper focuses on the application of information technology and telematics solutions which have been designed to create as seamless a journey as possible from the point of view of the transport system user. The scope of the paper is therefore deliberately wide‐ranging and includes an examination of measures as apparently unconnected as smartcard ticketing, bus priority systems, automatic vehicle locationing, trip planning and on‐board information systems as well as new public transport services offering demand responsive travel and integration with taxi services. The paper intends to show how such technological solutions can be used to increase the attractiveness and competitiveness of fixed public transport networks in comparison to the door‐to‐door flexibility of the private car.     

Quantifying the effects of driver non-compliance and communication system failure in the performance of real-time bus control strategies

Control strategies that prevent bus bunching allow for improvement to the level of service offered by a transit corridor as well as reducing travel time and its variability, thus providing higher reliability to the user. Several optimization models based on the use of real-time information have been shown to achieve this, through the planning of holding of the buses at bus stops. In the majority of the cases the benefits of these models have been estimated assuming ideal operational conditions while only few of them have been tested in real conditions. However, neither the simulation experiment, nor the real implementations have quantified the effects of real-life phenomena that harm the performance of the system, preventing it from achieving the full potential of these control schemes.This paper examines three phenomena that may occur during the operation of a bus service, which would limit the effectiveness of a holding-based control strategy in the sense that some of the planned holdings might not be executed. These phenomena are drivers non-compliance, failure of communication systems with buses, and the combination of both. The objective is to estimate the negative impact these phenomena can have on the benefits of the strategy, and to identify possible measures that could help operators and decision makers to reduce this impact. Both objectives are achieved using the real-time holding model developed by Delgado et al. (2012), which is tested in a simulation environment.