Dynamics of commuting decision behaviour under advanced traveller information systems

This paper addresses departure time and route switching decisions made by commuters in response to Advanced Traveller Information Systems (ATIS). It is based on the data collected from an experiment using a dynamic interactive travel simulator for laboratory studies of user responses under real-time information. The experiment involves actual commuters who simultaneously interact with each other within a simulated traffic corridor that consists of alternative travel facilities with differing characteristics. These commuters can determine their departure time and route at the origin and their path en-route at various decision nodes along their trip. A multinomial probit model framework is used to capture the serial correlation arising from repeated decisions made by the same respondent. The resulting behavioural model estimates support the notion that commuters' route switching decisions are predicated on the expectation of an improvement in trip time that exceeds a certain threshold (indifference band), which varies systematically with the remaining trip time to the destination, subject to a minimum absolute improvement (about 1 min).     

Modeling Travel Time Under ATIS Using Mixed Linear Models

The objective of this paper is to model travel time when drivers are equipped with pre-trip and/or en-route real-time traffic information/advice. A travel simulator with a realistic network and real historical congestion levels was used as a data collection tool. The network included 40 links and 25 nodes. This paper presents models of the origin-to-destination travel time and en-route short-term route (link) travel time under five different types and levels of advanced traveler information systems (ATIS). Mixed linear models with the repeated observation's technique were used in both models. Different covariance structures (including the independent case) were developed and compared. The effect of correlation was found significant in both models. The trip travel time analysis showed that as the level of information increases (adding en-route to the pre-trip and advice to the advice-free information), the average travel time decreases. The model estimates show that providing pre-trip and en-route traffic information with advice could result in significant savings in the overall travel time. The en-route short-term (link) travel time analysis showed that the en-route short-term (link) information has a good chance of being used and followed. The short-term qualitative information is more likely to be used than quantitative information. Learning and being familiar with the system that provides the information decreases en-route short-term delay.     

A traffic flow simulator for network reliability assessment

This paper investigates the transportation network reliability based on the information provided by detectors installed on some links. A traffic flow simulator (TFS) model is formulated for assessing the network reliability (in terms of travel time reliability), in which the variation of perceived travel time error and the fluctuations of origin-destination (OD) demand are explicitly considered. On the basis of prior OD demand and partial updated detector data, the TFS can estimate the link flows for the whole network together with link/path travel times, and their variance and covariance. The travel time reliability by OD pair can also be assessed and the OD matrix can be updated simultaneously. A Monte Carlo based algorithm is developed to solve the TFS model. The application of the proposed TFS model is illustrated by a numerical example.     

Mind the map! The impact of transit maps on path choice in public transit

This paper investigates the impact of schematic transit maps on passengers’ travel decisions. It does two things: First, it proposes an analysis framework that defines four types of information delivered from a transit map: distortion, restoration, codification, and cognition. It then considers the potential impact of this information on three types of travel decisions: location, mode, and path choices.¹ Second, it conducts an empirical analysis to explore the impact of the famous London tube map on passengers’ path choice in the London Underground (LUL). Using data collected by LUL from 1998 to 2005, the paper develops a path choice model and compares the influence between the distorted tube map (map distance) and reality (travel time) on passengers’ path choice behavior. Results show that the elasticity of the map distance is twice that of the travel time, which suggests that passengers often trust the tube map more than their own travel experience on deciding the “best” travel path. This is true even for the most experienced passengers using the system. The codification of transfer connections on the tube map, either as a simple dot or as an extended link, could affect passengers’ transfer decisions. The implications to transit operation and planning, such as trip assignments, overcrowding mitigation, and the deployment of Advanced Transit Information System (ATIS), are also discussed.     

Network reliability‐based optimal toll design

Optimal toll design from a network reliability point of view is addressed in this paper. Improving network reliability is proposed as a policy objective of road pricing. A reliability‐based optimal toll design model, where on the upper level network performance including travel time reliability is optimized, while on the lower level a dynamic user‐equilibrium is achieved, is presented. Road authorities aim to optimize network travel time reliability by setting tolls in a network design problem. Travelers are influenced by these tolls and make route and trip decisions by considering travel times and tolls. Network performance reliability is analyzed for a degradable network with elastic and fluctuated travel demand, which integrates reliability and uncertainty, dynamic network equilibrium models, and Monte Carlo methods. The proposed model is applied to a small hypothesized network for which optimal tolls are derived. The network travel time reliability is indeed improved after implementing optimal tolling system. Trips may have a somewhat higher, but more reliable, travel time.     

The value of advanced traveler information systems for route choice

Over the next few years, driver behavior should become more informed with the advent and deployment of in-vehicle navigation systems. This paper analyzes systems that provide the driver the fastest path between his or her current location and final destination, updated in real-time to consider recurring and non-recurring congestion. The traveler’s full cost per trip is a bundle comprised of both expected travel time and its reliability. This paper explores these topics from a theoretical economic perspective and then simulates stylized cases. Simulation results indicate that typical information benefits are at a maximum on the precipice of congestion, when vehicles are arriving at a rate of 95% of the capacity, while non-recurring congestion benefits are much greater.     

Finding the most reliable path with and without link travel time correlation: A Lagrangian substitution based approach

Path travel time reliability is an essential measure of the quality of service for transportation systems and an important attribute in travelers’ route and departure time scheduling. This paper investigates a fundamental problem of finding the most reliable path under different spatial correlation assumptions, where the path travel time variability is represented by its standard deviation. To handle the non-linear and non-additive cost functions introduced by the quadratic forms of the standard deviation term, a Lagrangian substitution approach is adopted to estimate the lower bound of the most reliable path solution through solving a sequence of standard shortest path problems. A subgradient algorithm is used to iteratively improve the solution quality by reducing the optimality gap. To characterize the link travel time correlation structure associated with the end-to-end trip time reliability measure, this research develops a sampling-based method to dynamically construct a proxy objective function in terms of travel time observations from multiple days. The proposed algorithms are evaluated under a large-scale Bay Area, California network with real-world measurements.     

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.     

Link travel time inference using entry/exit information of trips on a network

This paper studies link travel time estimation using entry/exit time stamps of trips on a steady-state transportation network. We propose two inference methods based on the likelihood principle, assuming each link associates with a random travel time. The first method considers independent and Gaussian distributed link travel times, using the additive property that trip time has a closed-form distribution as the summation of link travel times. We particularly analyze the mean estimates when the variances of trip time estimates are known with a high degree of precision and examine the uniqueness of solutions. Two cases are discussed in detail: one with known paths of all trips and the other with unknown paths of some trips. We apply the Gaussian mixture model and the Expectation–Maximization (EM) algorithm to deal with the latter. The second method splits trip time proportionally among links traversed to deal with more general link travel time distributions such as log-normal. This approach builds upon an expected log-likelihood function which naturally leads to an iterative procedure analogous to the EM algorithm for solutions. Simulation tests on a simple nine-link network and on the Sioux Falls network respectively indicate that the two methods both perform well. The second method (i.e., trip splitting approximation) generally runs faster but with larger errors of estimated standard deviations of link travel times.     

Application of Lagrangian relaxation approach to α-reliable path finding in stochastic networks with correlated link travel times

This study investigates the important problem of determining a reliable path in a stochastic network with correlated link travel times. First, the distribution of path travel time is quantified by using trip records from GPS probe vehicles. Second, the spatial correlation of link travel time is explicitly considered by using a correlation coefficient matrix, which is incorporated into the α-reliable path problem by Cholesky decomposition. Third, the Lagrangian relaxation based framework is used to handle the α-reliable path problem, by which the intractable problem with a non-linear and non-additive structure can be decomposed into several easy-to-solve problems. Finally, the path-finding performance of this approach is tested on a real-world network. The results show that 15 iterations of calculation can yield a small relative gap between upper and lower bounds of the optimal solution and the average running time is about 5 s for most OD settings. The applicability of α-reliable path finding is validated by a case study.     

A model for assessing the effects of dynamic travel time information via variable message signs

In view of the serious traffic congestion during peak hours in most metropolitan areas around the world and recent improvement of information technology, there is a growing aspiration to alleviate road congestion by applications of electronic information and communication technology. Providing drivers with dynamic travel time information such as estimated journey times on major routes should help drivers to select better routes and guide them to utilise existing expressway network. This can be regarded as one possible strategy for effective traffic management. This paper aims to investigate the effects and benefits of providing dynamic travel time information to drivers via variable message signs at the expressway network. In order to assess the effects of the dynamic driver information system with making use of the variable message signs, a time-dependent traffic assignment model is proposed. A numerical example is used to illustrate the effects of the dynamic travel time information via variable message signs. This revised version was published online in June 2006 with corrections to the Cover Date.     

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.     

Effect of providing traffic information estimated by a stochastic network equilibrium model with stochastic demand

To estimate travel times through road networks, in this study, we assume a stochastic demand and formulate a stochastic network equilibrium model whose travel times, flows, and demands are stochastic. This model enables us to examine network reliability under stochastic circumstances and to evaluate the effect of providing traffic information on travel times. For traffic information, we focus on travel time information and propose methods to evaluate the effect of providing that information. To examine the feasibility and validity of the proposed model and methods, we apply them to a simple network and the real road network of Kanazawa, Japan. The results indicate that providing ambulance drivers in Kanazawa with travel time information leads to an average reduction in travel time of approximately three minutes.     

Forecasting journey time distribution with consideration to abnormal traffic conditions

Travel time is an important index for managers to evaluate the performance of transportation systems and an intuitive measure for travelers to choose routes and departure times. An important part of the literature focuses on predicting instantaneous travel time under recurrent traffic conditions to disseminate traffic information. However, accurate travel time prediction is important for assessing the effects of abnormal traffic conditions and helping travelers make reliable travel decisions under such conditions. This study proposes an online travel time prediction model with emphasis on capturing the effects of anomalies. The model divides a path into short links. A Functional Principal Component Analysis (FPCA) framework is adopted to forecast link travel times based on historical data and real-time measurements. Furthermore, a probabilistic nested delay operator is used to calculate path travel time distributions. To ensure that the algorithm is fast enough for online applications, parallel computation architecture is introduced to overcome the computational burden of the FPCA. Finally, a rolling horizon structure is applied to online travel time prediction. Empirical results for Guangzhou Airport Expressway indicate that the proposed method can capture an abrupt change in traffic state and provide a promising and reliable travel time prediction at both the link and path levels. In the case where the original FPCA is modified for parallelization, accuracy and computational effort are evaluated and compared with those of the sequential algorithm. The proposed algorithm is found to require only a piece rather than a large set of traffic incident records.     

Value of travel time reliability: A review of current evidence

Travel time reliability is a fundamental factor in travel behavior. It represents the temporal uncertainty experienced by travelers in their movement between any two nodes in a network. The importance of the time reliability depends on the penalties incurred by the travelers. In road networks, travelers consider the existence of a trip travel time uncertainty in different choice situations (departure time, route, mode, and others). In this paper, a systematic review of the current state of research in travel time reliability, and more explicitly in the value of travel time reliability is presented. Moreover, a meta-analysis is performed in order to determine the reasons behind the discrepancy among the reliability estimates.     

Travel time estimation for urban road networks using low frequency probe vehicle data

The paper presents a statistical model for urban road network travel time estimation using vehicle trajectories obtained from low frequency GPS probes as observations, where the vehicles typically cover multiple network links between reports. The network model separates trip travel times into link travel times and intersection delays and allows correlation between travel times on different network links based on a spatial moving average (SMA) structure. The observation model presents a way to estimate the parameters of the network model, including the correlation structure, through low frequency sampling of vehicle traces. Link-specific effects are combined with link attributes (speed limit, functional class, etc.) and trip conditions (day of week, season, weather, etc.) as explanatory variables. The approach captures the underlying factors behind spatial and temporal variations in speeds, which is useful for traffic management, planning and forecasting. The model is estimated using maximum likelihood. The model is applied in a case study for the network of Stockholm, Sweden. Link attributes and trip conditions (including recent snowfall) have significant effects on travel times and there is significant positive correlation between segments. The case study highlights the potential of using sparse probe vehicle data for monitoring the performance of the urban transport system.     

On the value of highway travel time information systems

After the widespread deployment of Advanced Traveler Information Systems, there exists an increasing concern about their profitability. The costs of such systems are clear, but the quantification of the benefits still generates debate. This paper analyzes the value of highway travel time information systems. This is achieved by modeling the departure time selection and route choice with and without the guidance of an information system. The behavioral model supporting these choices is grounded on the expected utility theory, where drivers try to maximize the expected value of their perceived utility. The value of information is derived from the reduction of the unreliability costs as a consequence of the wiser decisions made with information. This includes the reduction of travel times, scheduling costs and stress. This modeling approach allows assessing the effects of the precision of the information system in the value of the information.Different scenarios are simulated in a generic but realistic context, using empirical data measured on a highway corridor accessing the city of Barcelona, Spain. Results show that travel time information only has a significant value in three situations: (1) when there is an important scheduled activity at the destination (e.g. morning commute trips), (2) in case of total uncertainty about the conditions of the trip (e.g. sporadic trips), and (3) when more than one route is possible. Information systems with very high precision do not produce better results. However, an acceptable level of precision is completely required, as information systems with very poor precision may even be detrimental. The paper also highlights the difference between the user value and the social value of the information. The value of the information may not benefit only the user. For instance, massive dissemination of travel time information contributes to the reduction of day-to-day travel time variance. This favors all drivers, even those without information. In these situations travel time information has the property that its social benefits exceed private benefits (i.e. information has positive externalities). Of course, drivers are only willing to cover costs equal or smaller than their private benefits, which in turn may justify subsidies for information provision.     

Behavior-consistent real-time traffic routing under information provision

The problem addressed here involves a controller seeking to enhance traffic network performance via real-time routing information provision to drivers while explicitly accounting for drivers’ likely reactions towards the information. A fuzzy control modeling approach is used to determine the associated behavior-consistent information-based network control strategies. Experiments are performed to compare the effectiveness of the behavior-consistent approach with traditional dynamic traffic assignment based approaches for deployment. The results show the importance of incorporating driver behavior realistically in the determination of the information strategies. Significant differences in terms of system travel time savings and compliance to the information strategies can be obtained when the behavior-consistent approach is compared to the traditional approaches. The behavior-consistent approach can provide more robust performance compared to the standard user or system optimal information strategies. Subject to a meaningful estimation of driver behavior, it can ensure system performance improvement. By contrast, approaches that do not seek to simultaneously achieve the objectives of the drivers and the controller can potentially deteriorate system performance because the controller may over-recommend or under-recommend some routes, or recommend routes that are not considered by the drivers.     

Travel time estimation from sparse floating car data with consistent path inference: A fixed point approach

Estimation of urban network link travel times from sparse floating car data (FCD) usually needs pre-processing, mainly map-matching and path inference for finding the most likely vehicle paths that are consistent with reported locations. Path inference requires a priori assumptions about link travel times; using unrealistic initial link travel times can bias the travel time estimation and subsequent identification of shortest paths. Thus, the combination of path inference and travel time estimation is a joint problem. This paper investigates the sensitivity of estimated travel times, and proposes a fixed point formulation of the simultaneous path inference and travel time estimation problem. The methodology is applied in a case study to estimate travel times from taxi FCD in Stockholm, Sweden. The results show that standard fixed point iterations converge quickly to a solution where input and output travel times are consistent. The solution is robust under different initial travel times assumptions and data sizes. Validation against actual path travel time measurements from the Google API and an instrumented vehicle deployed for this purpose shows that the fixed point algorithm improves shortest path finding. The results highlight the importance of the joint solution of the path inference and travel time estimation problem, in particular for accurate path finding and route optimization.     

Deploying public charging stations for electric vehicles on urban road networks

This paper explores how to optimally locate public charging stations for electric vehicles on a road network, considering drivers’ spontaneous adjustments and interactions of travel and recharging decisions. The proposed approach captures the interdependency of different trips conducted by the same driver by examining the complete tour of the driver. Given the limited driving range and recharging needs of battery electric vehicles, drivers of electric vehicles are assumed to simultaneously determine tour paths and recharging plans to minimize their travel and recharging time while guaranteeing not running out of charge before completing their tours. Moreover, different initial states of charge of batteries and risk-taking attitudes of drivers toward the uncertainty of energy consumption are considered. The resulting multi-class network equilibrium flow pattern is described by a mathematical program, which is solved by an iterative procedure. Based on the proposed equilibrium framework, the charging station location problem is then formulated as a bi-level mathematical program and solved by a genetic-algorithm-based procedure. Numerical examples are presented to demonstrate the models and provide insights on public charging infrastructure deployment and behaviors of electric vehicles.