Capturing value of reliability through road pricing in congested traffic under uncertainty

Empirical studies showed that travel time reliability, usually measured by travel time variance, is strongly correlated with travel time itself. Travel time is highly volatile when the demand approaches or exceeds the capacity. Travel time variability is associated with the level of congestion, and could represent additional costs for travelers who prefer punctual arrivals. Although many studies propose to use road pricing as a tool to capture the value of travel time (VOT) savings and to induce better road usage patterns, the role of the value of reliability (VOR) in designing road pricing schemes has rarely been studied. By using road pricing as a tool to spread out the peak demand, traffic management agencies could improve the utility of travelers who prefer punctual arrivals under traffic congestion and stochastic network conditions. Therefore, we could capture the value of travel time reliability using road pricing, which is rarely discussed in the literature. To quantify the value of travel time reliability (or reliability improvement), we need to integrate trip scheduling, endogenous traffic congestion, travel time uncertainty, and pricing strategies in one modeling framework. This paper developed such a model to capture the impact of pricing on various costs components that affect travel choices, and the role of travel time reliability in shaping departure patterns, queuing process, and the choice of optimal pricing. The model also shows the benefits of improving travel time reliability in various ways. Findings from this paper could help to expand the scope of road pricing, and to develop more comprehensive travel demand management schemes.     

A dynamic cordon pricing scheme combining the Macroscopic Fundamental Diagram and an agent-based traffic model

Pricing is considered an effective management policy to reduce traffic congestion in transportation networks. In this paper we combine a macroscopic model of traffic congestion in urban networks with an agent-based simulator to study congestion pricing schemes. The macroscopic model, which has been tested with real data in previous studies, represents an accurate and robust approach to model the dynamics of congestion. The agent-based simulator can reproduce the complexity of travel behavior in terms of travelers’ choices and heterogeneity. This integrated approach is superior to traditional pricing schemes. On one hand, traffic simulators (including car-following, lane-changing and route choice models) consider travel behavior, i.e. departure time choice, inelastic to the level of congestion. On the other hand, most congestion pricing models utilize supply models insensitive to demand fluctuations and non-stationary conditions. This is not consistent with the physics of traffic and the dynamics of congestion. Furthermore, works that integrate the above features in pricing models are assuming deterministic and homogeneous population characteristics. In this paper, we first demonstrate by case studies in Zurich urban road network, that the output of a agent-based simulator is consistent with the physics of traffic flow dynamics, as defined by a Macroscopic Fundamental Diagram (MFD). We then develop and apply a dynamic cordon-based congestion pricing scheme, in which tolls are controlled by an MFD. And we investigate the effectiveness of the proposed pricing scheme. Results show that by applying such a congestion pricing, (i) the savings of travel time at both aggregated and disaggregated level outweigh the costs of tolling, (ii) the congestion inside the cordon area is eased while no extra congestion is generated in the neighbor area outside the cordon, (iii) tolling has stronger impact on leisure-related activities than on work-related activities, as fewer agents who perform work-related activities changed their time plans. Future work can apply the same methodology to other network-based pricing schemes, such as area-based or distance-traveled-based pricing. Equity issues can be investigated more carefully, if provided with data such as income of agents. Value-of-time-dependent pricing schemes then can also be determined.     

Bayesian network-based formulation and analysis for toll road utilization supported by traffic information provision

Congestion pricing has been proposed and investigated as an effective means of optimizing traffic assignment, alleviating congestion, and enhancing traffic operation efficiencies. Meanwhile, advanced traffic information dissemination systems, such as Advanced Traveler Information System (ATIS), have been developed and deployed to provide real-time, accurate, and complete network-wide traffic information to facilitate travelers’ trip plans and routing selections. Recent advances in ATIS technologies, especially telecommunication technology, allow dynamic, personalized, and multimodal traffic information to be disseminated and impact travelers’ choices of departure times, alternative routes, and travel modes in the context of congestion pricing. However, few studies were conducted to determine the impact of traffic information dissemination on toll road utilizations. In this study, the effects of the provisions of traffic information on toll road usage are investigated and analyzed based on a stated preference survey conducted in Texas. A Bayesian Network (BN)-based approach is developed to discover travelers’ opinions and preferences for toll road utilization supported by network-wide traffic information provisions. The probabilistic interdependencies among various attributes, including routing choice, departure time, traffic information dissemination mode, content, coverage, commuter demographic information, and travel patterns, are identified and their impacts on toll road usage are quantified. The results indicate that the BN model performs reasonably well in travelers’ preference classifications for toll road utilization and knowledge extraction. The BN Most Probable Explanation (MPE) measurement, probability inference and variable influence analysis results illustrate travelers using highway advisory radio and internet as their primary mode of receiving traffic information are more likely to comply with routing recommendations and use toll roads. Traffic information regarding congested roads, road hazard warnings, and accident locations is of great interest to travelers, who tend to acquire such information and use toll roads more frequently. Travel time formation for home-based trips can considerably enhance travelers’ preferences for toll road usage. Female travelers tend to seek traffic information and utilize toll roads more frequently. As expected, the information provided at both pre-trip and en-route stages can positively influence travelers’ preferences for toll road usage. The proposed methodology and research findings advance our previous study and provide insight into travelers’ behavioral tendencies concerning toll road utilization in support of traffic information dissemination.     

Behavioural responses to vehicle emissions charging

Road pricing as an economic construct is not a new phenomenon in transportation research. Whilst fuel taxation and tolling of roads are common ways of raising revenue in many countries, these initiatives are primarily aimed at road infrastructure financing. Worldwide there has been growing interest in pricing structures designed to also manage the growing levels of traffic congestion and, in recent times, an increasing focus on generating reductions in carbon emissions from vehicle ownership and use. This paper presents a stated choice experiment undertaken in response to the increasing interest in the environmental externalities of travel behaviour. The aim of this choice experiment is to identify the potential to switch to more fuel efficient cars that emit lower emissions, under differing pricing and technology scenarios. Results indicate that annual and variable emissions surcharges targeted very specifically to vehicle emission rates have a noticeable role in modifying vehicle purchasing decisions.     

A framework for evaluating the dynamic impacts of a congestion pricing policy for a transportation socioeconomic system

This paper provides a modeling framework based on the system dynamics approach by which policy makers can understand the dynamic and complex nature of traffic congestion within a transportation socioeconomic system representation of a metropolitan area. This framework offers policy makers an assessment platform that focuses on the short- and long-term system behaviors arising from an area-wide congestion pricing policy along with other congestion mitigation policies. Since only a few cities in the world have implemented congestion pricing and several are about to do so, a framework that helps policy makers to understand the impacts of congestion pricing is currently quite relevant. Within this framework, improved bus and metro capacities contribute to the supply dynamics which in turn affect the travel demand of individuals and their choice of different transportation modes. Work travel and social networking activities are assumed to generate additional travel demand dynamics that are affected by travelers’ perception of the level of service of the different transportation modes, their perception of the congestion level, and the associated traveling costs. It is assumed that the, population, tourism and employment growth are exogenous factors that affect demand. Furthermore, this paper builds on a previously formulated approach where fuzzy logic concepts are used to represent linguistic variables assumed to describe consumer perceptions about transportation conditions.     

Anticipating new-highway impacts: Opportunities for welfare analysis and credit-based congestion pricing

Pricing of roadways opens doors for infrastructure financing, and congestion pricing seeks to address inefficiencies in roadway operations. This paper emphasizes the revenue-generation opportunities and welfare impacts of flat-tolling schemes, standard congestion pricing, and credit-based congestion pricing policies. While most roadway investment decisions focus on travel time savings for existing trips, this work turns to logsum differences (which quantify changes in consumer surplus) for nested logit specifications across two traveler types, two destinations, three modes and three times of day, in order to arrive at welfare- and revenue-maximizing solutions. This behavioral specification is quite flexible, and facilitates benefit-cost calculations (as well as equity analysis), as demonstrated in this paper.The various cases examined suggest significant opportunities for financing new roadway investment while addressing congestion and equity issues, with net gains for both traveler types. Application results illustrate how, even after roadway construction and maintenance costs are covered, receipts may remain to distribute to eligible travelers so that typical travelers can be made better off than if a new, non-tolled road had been constructed. Moreover, tolling both routes (new and old) results in substantially shorter payback periods (5 versus 20 years) and higher welfare outcomes (in the case of welfare-maximizing tolls with credit distributions to all travelers). The tools and techniques highlighted here illustrate practical methods for identifying welfare-enhancing and cost-recovering investment opportunities, while recognizing multiple user classes and appropriate demand elasticity across times of day, destinations, modes and routes.     

A theory and implications on dynamic marginal cost

This paper extends the conventional static marginal cost analysis to the dynamic one based on the time-dependent queueing analysis at a bottleneck. First, the supply function is reformulated so as to incorporate dynamically congestion phenomena. And, the marginal cost is shown to be more closely related to the duration of congestion rather than the personal cost, since a slight change of demand at one time affects an entire traffic condition thereafter. Next, the analysis is extended so as to include the departure time choice using previous departure time choice theory. Several implications such as road pricing schemes and ramp control strategies are also discussed.     

An impact analysis of traffic image information system on driver travel choice

A driver is one of the main components in a transportation system that influences the effectiveness of any active demand management (ADM) strategies. As such, the understanding on driver behavior and their travel choice is crucial to ensure the successful implementation of ADM strategies in alleviating traffic congestion, especially in city centres. This study aims to investigate the impact of traffic information dissemination via traffic images on driver travel choice and decision. A relationship of driver travel choice with respect to their perceived congestion level is developed by an integrated framework of genetic algorithm–fuzzy logic, being a new attempt in driver behavior modeling. Results show that drivers consider changing their travel choice when the perceived congestion level is medium, in which changing departure time and diverting to alternative roads are two popular choices. If traffic congestion escalates further, drivers are likely to cancel their trip. Shifting to public transport system is the least likely choice for drivers in an auto-dependent city. These findings are important and useful to engineers as they are required to fully understand driver (user) sensitivity to traffic conditions so that relevant active travel demand management strategies could be implemented successfully. In addition, engineers could use the relationships established in this study to predict drivers’ response under various traffic conditions when carrying out modeling and impact studies.     

An equilibrium analysis of commuter parking in the era of autonomous vehicles

This study is the first in the literature to model the joint equilibrium of departure time and parking location choices when commuters travel with autonomous vehicles (AVs). With AVs, walking from parking spaces to the work location is not needed. Instead, AVs will drop off the commuters at the workplace and then drive themselves to the parking spaces. In this context, the equilibrium departure/arrival profile is different from the literature with non-autonomous vehicles (non-AVs). Besides modeling the commuting equilibrium, this study further develops the first-best time-dependent congestion tolling scheme to achieve the system optimum. Also, a location-dependent parking pricing scheme is developed to replace the tolling scheme. Furthermore, this study discusses the optimal parking supply to minimize the total system cost (including both the travel cost and the social cost of parking supply) under either user equilibrium or system optimum traffic flow pattern. It is found that the optimal planning of parking can be different from the non-AV situation, since the vehicles can drive themselves to parking spaces that are further away from the city center and walking of commuters is avoided. This paper sheds light on future parking supply planning and traffic management.     

Large-scale application of MILATRAS: case study of the Toronto transit network

This paper documents the efforts to operationalize the conceptual framework of MIcrosimulation Learning-based Approach to TRansit Assignment (MILATRAS) and its component models of departure time and path choices. It presents a large-scale real-world application, namely the multi-modal transit network of Toronto which is operated by the Toronto Transit Commission (TTC). This large-scale network is represented by over 500 branches with more than 10,000 stops. About 332,000 passenger-agents are modelled to represent the demand for the TTC in the AM peak period. A learning-based departure time and path choice model was adopted using the concept of mental models for the modelling of the transit assignment problem. The choice model parameters were calibrated such that the entropy of the simulated route loads was optimized with reference to the observed route loads, and validated with individual choices. A Parallel Genetic Algorithm engine was used for the parameter calibration process. The modelled route loads, based on the calibrated parameters, greatly approximate the distribution underlying the observed loads. 75% of the exact sequence of transfer point choices were correctly predicted by the off-stop/on-stop choice mechanism. The model predictability of the exact sequence of route transfers was about 60%. In this application, transit passengers were assumed to plan their transit trip based on their experience with the transportation network; with no prior (or perfect) knowledge of service performance.     

Probe data-driven travel time forecasting for urban expressways by matching similar spatiotemporal traffic patterns

Travel time is an effective measure of roadway traffic conditions. The provision of accurate travel time information enables travelers to make smart decisions about departure time, route choice and congestion avoidance. Based on a vast amount of probe vehicle data, this study proposes a simple but efficient pattern-matching method for travel time forecasting. Unlike previous approaches that directly employ travel time as the input variable, the proposed approach resorts to matching large-scale spatiotemporal traffic patterns for multi-step travel time forecasting. Specifically, the Gray-Level Co-occurrence Matrix (GLCM) is first employed to extract spatiotemporal traffic features. The Normalized Squared Differences (NSD) between the GLCMs of current and historical datasets serve as a basis for distance measurements of similar traffic patterns. Then, a screening process with a time constraint window is implemented for the selection of the best-matched candidates. Finally, future travel times are forecasted as a negative exponential weighted combination of each candidate’s experienced travel time for a given departure. The proposed approach is tested on Ring 2, which is a 32km urban expressway in Beijing, China. The intermediate procedures of the methodology are visualized by providing an in-depth quantitative analysis on the speed pattern matching and examples of matched speed contour plots. The prediction results confirm the desirable performance of the proposed approach and its robustness and effectiveness in various traffic conditions.     

Experienced travel time prediction for congested freeways

Travel time is an important performance measure for transportation systems, and dissemination of travel time information can help travelers make reliable travel decisions such as route choice or departure time. Since the traffic data collected in real time reflects the past or current conditions on the roadway, a predictive travel time methodology should be used to obtain the information to be disseminated. However, an important part of the literature either uses instantaneous travel time assumption, and sums the travel time of roadway segments at the starting time of the trip, or uses statistical forecasting algorithms to predict the future travel time. This study benefits from the available traffic flow fundamentals (e.g. shockwave analysis and bottleneck identification), and makes use of both historical and real time traffic information to provide travel time prediction. The methodological framework of this approach sequentially includes a bottleneck identification algorithm, clustering of traffic data in traffic regimes with similar characteristics, development of stochastic congestion maps for clustered data and an online congestion search algorithm, which combines historical data analysis and real-time data to predict experienced travel times at the starting time of the trip. The experimental results based on the loop detector data on Californian freeways indicate that the proposed method provides promising travel time predictions under varying traffic conditions.     

Morning commute problem considering route choice, user heterogeneity and alternative system optima

This paper extends the bottleneck model to study congestion behavior of morning commute and its implications to transportation economics. The proposed model considers simultaneous route and departure time choices of heterogenous users who are distinguished by their valuation of travel time and punctual arrival. Moreover, two dynamic system optima are considered: one minimizes system cost in the unit of monetary value (i.e., the conventional system optimum, or SO) and the other minimizes system cost in the unit of travel time (i.e., the time-based SO, or TSO). Analytical solutions of no-toll equilibrium, SO and TSO are provided and the welfare effects of the corresponding dynamic congestion pricing options are examined, with and without route choice. The analyses suggest that TSO provides a Pareto-improving solution to the social inequity issue associated with SO. Although a TSO toll is generally discriminatory, anonymous TSO tolls do exist under certain circumstances. Unlike in the case with homogenous users, an SO toll generally alters users’ route choices by tolling the poorer users off the more desirable road, which worsens social inequity. Numerical examples are presented to verify analytical results.     

Marginal cost congestion pricing based on the network fundamental diagram

Congestion pricing schemes have been traditionally derived based on analytical representations of travel demand and traffic flows, such as in bottleneck models. A major limitation of these models, especially when applied to urban networks, is the inconsistency with traffic dynamics and related phenomena such as hysteresis and the capacity drop. In this study we propose a new method to derive time-varying tolling schemes using the concept of the Network Fundamental Diagram (NFD). The adopted method is based on marginal cost pricing, while it also enables to account realistically for the dynamics of large and heterogeneous traffic networks. We derive two alternative cordon tolls using network-aggregated traffic flow conditions: a step toll that neglects the spatial distribution of traffic by simply associating the marginal costs of any decrease in production within the NFD to the surplus of traffic; and a step toll that explicitly accounts for how network performance is also influenced by the spatial variance in a 3D-NFD. This pricing framework is implemented in the agent-based simulation model MATSim and applied to a case study of the city of Zurich. The tolling schemes are compared with a uniform toll, and they highlight how the inhomogeneous distribution of traffic may compromise the effectiveness of cordon tolls.     

Stockholm congestion charging: an assessment with METROPOLIS and SILVESTER

This paper reviews and compares the performance of two dynamic transportation models – METROPOLIS and SILVESTER – which are used to predict the impacts of congestion charging for Stockholm. Both are mesoscopic dynamic models treating accumulation and dissipation of traffic queues, route choice, modal split and departure time choice. The models are calibrated independently for the baseline situation without charges and applied to forecast the effects of congestion charging. The results obtained from the two models are mutually compared and validated against the actual outcome of the Stockholm congestion charging scheme. Both models successfully predict the outcomes of the congestion charging trial at both aggregate and disaggregate levels. Results of welfare analysis, however, differ substantially due to differences in model specification.     

Optimal distance- and time-dependent area-based pricing with the Network Fundamental Diagram

Given the efficiency and equity concerns of a cordon toll, this paper proposes a few alternative distance-dependent area-based pricing models for a large-scale dynamic traffic network. We use the Network Fundamental Diagram (NFD) to monitor the network traffic state over time and consider different trip lengths in the toll calculation. The first model is a distance toll that is linearly related to the distance traveled within the cordon. The second model is an improved joint distance and time toll (JDTT) whereby users are charged jointly in proportion to the distance traveled and time spent within the cordon. The third model is a further improved joint distance and delay toll (JDDT) which replaces the time toll in the JDTT with a delay toll component. To solve the optimal toll level problem, we develop a simulation-based optimization (SBO) framework. Specifically, we propose a simultaneous approach and a sequential approach, respectively, based on the proportional-integral (PI) feedback controller to iteratively adjust the JDTT and JDDT, and use a calibrated large-scale simulation-based dynamic traffic assignment (DTA) model of Melbourne, Australia to evaluate the network performance under different pricing scenarios. While the framework is developed for static pricing, we show that it can be easily extended to solve time-dependent pricing by using multiple PI controllers. Results show that although the distance toll keeps the network from entering the congested regime of the NFD, it naturally drives users into the shortest paths within the cordon resulting in an uneven distribution of congestion. This is reflected by a large clockwise hysteresis loop in the NFD. In contrast, both the JDTT and JDDT reduce the size of the hysteresis loop while achieving the same control objective. We further conduct multiple simulation runs with different random seed numbers to demonstrate the effectiveness of different pricing models against simulation stochasticity. However, we postulate that the feedback control is not applicable with guaranteed convergence if the periphery of the cordon area becomes highly congested or gridlocked.     

Congestion-aware system optimal route choice for shared autonomous vehicles

We study the shared autonomous vehicle (SAV) routing problem while considering congestion. SAVs essentially provide a dial-a-ride service to travelers, but the large number of vehicles involved (tens of thousands of SAVs to replace personal vehicles) results in SAV routing causing significant congestion. We combine the dial-a-ride service constraints with the linear program for system optimal dynamic traffic assignment, resulting in a congestion-aware formulation of the SAV routing problem. Traffic flow is modeled through the link transmission model, an approximate solution to the kinematic wave theory of traffic flow. SAVs interact with travelers at origins and destinations. Due to the large number of vehicles involved, we use a continuous approximation of flow to formulate a linear program. Optimal solutions demonstrate that peak hour demand is likely to have greater waiting and in-vehicle travel times than off-peak demand due to congestion. SAV travel times were only slightly greater than system optimal personal vehicle route choice. In addition, solutions can determine the optimal fleet size to minimize congestion or maximize service.     

Quantifying the benefit of responsive pricing and travel information in the stochastic congestion pricing problem

This paper is concerned with roadway pricing amidst the uncertainty which characterizes long-term transportation planning. Uncertainty is considered both on the supply-side (e.g., the effect of incidents on habitual route choice behavior) and on the demand-side (e.g., due to prediction errors in demand forecasting). The framework developed in this paper also allows the benefits of real-time travel information to be compared directly against the benefits of responsive pricing, allowing planning agencies to identify the value of these policy options or contract terms in publicly-operated toll roads. Specifically, six scenarios reflect different combinations of policy options, and correspond to different solution methods for optimal tolls. Demonstrations are provided on both the Sioux falls and Anaheim networks. Results indicate that providing information to drivers implemented alongside responsive tolling may reduce expected total system travel time by over 9%, though more than 8% of the improvement is due to providing information, with the remaining 1% improvement gained from responsive tolling.     

An investigation of commuting trip timing and mode choice in the Greater Toronto Area: Application of a joint discrete-continuous model

The trip timing and mode choice are two critical decisions of individual commuters mostly define peak period traffic congestion in urban areas. Due to the increasing evidence in many North American cities that the duration of the congested peak travelling periods is expanding (peak spreading), it becomes necessary and natural to investigate these two commuting decisions jointly. In addition to being considered jointly with mode choice decisions, trip timing must also be modelled as a continuous variable in order to precisely capture peak spreading trends in a policy sensitive transportation demand model. However, in the literature to date, these two fundamental decisions have largely been treated separately or in some cases as integrated discrete decisions for joint investigation. In this paper, a discrete-continuous econometric model is used to investigate the joint decisions of trip timing and mode choice for commuting trips in the Greater Toronto Area (GTA). The joint model, with a multinomial logit model for mode choice and a continuous time hazard model for trip timing, allows for unrestricted correlation between the unobserved factors influencing these two decisions. Models are estimated by occupation groups using 2001 travel survey data for the GTA. Across all occupation groups, strong correlations between unobserved factors influencing mode choice and trip timing are found. Furthermore, the estimated model proves that it sufficiently captures the peak spreading phenomenon and is capable of being applied within the activity-based travel demand model framework.     

Investigating empirical implications of hysteresis in day-to-day travel time variability

Day-to-day travel time variability plays a significant role in travel time reliability. Nowadays, travelers not only seek to minimize their travel time on average, but also value its variation. The variation in the mean and the variance of travel time (across days, for the same departure time) has not been thoroughly investigated. A temporary decrease in capacity (e.g. congestion caused by an active bottleneck) leads to a quite significant difference in the variance of travel time for congestion onset and offset periods. This phenomenon results in hysteresis loops where the departure time periods in congestion offset exhibit a higher travel time variance than the ones in congestion onset with the same mean travel time. The aim of this paper is to identify empirical implications that yield to the hysteresis phenomenon in day-to-day travel times. First, empirical hysteresis loop observations are provided from two different freeway sites. Second, we investigate the potential link with the hysteresis observed in traffic networks on macroscopic fundamental diagram (MFD). Third, we build a piecewise linear function that models the evolution of travel time within the day. This allows us to decompose the problem into its components, e.g. start time of congestion, peak travel time, etc. These components, along with their probability distribution functions, are employed in a Monte Carlo simulation model to investigate their partial effects on the existence of hysteresis. Correlation among critical variables is the most influential factor in this phenomenon, which should be further investigated regarding traffic flow and traffic equilibrium principles.