Finding optimal solutions for vehicle routing problem with pickup and delivery services with time windows: A dynamic programming approach based on state–space–time network representations

Optimization of on-demand transportation systems and ride-sharing services involves solving a class of complex vehicle routing problems with pickup and delivery with time windows (VRPPDTW). This paper first proposes a new time-discretized multi-commodity network flow model for the VRPPDTW based on the integration of vehicles’ carrying states within space–time transportation networks, so as to allow a joint optimization of passenger-to-vehicle assignment and turn-by-turn routing in congested transportation networks. Our three-dimensional state–space–time network construct is able to comprehensively enumerate possible transportation states at any given time along vehicle space–time paths, and further allows a forward dynamic programming solution algorithm to solve the single vehicle VRPPDTW problem. By utilizing a Lagrangian relaxation approach, the primal multi-vehicle routing problem is decomposed to a sequence of single vehicle routing sub-problems, with Lagrangian multipliers for individual passengers’ requests being updated by sub-gradient-based algorithms. We further discuss a number of search space reduction strategies and test our algorithms, implemented through a specialized program in C++, on medium-scale and large-scale transportation networks, namely the Chicago sketch and Phoenix regional networks.     

The impacts of connected vehicle technology on network-wide traffic operation and fuel consumption under various incident scenarios

ABSTRACT

Incidents are a major source of traffic congestion and can lead to long and unpredictable delays, deteriorating traffic operations and adverse environmental impacts. The emergence of connected vehicles and communication technologies has enabled travelers to use real-time traffic information. The ability to exchange traffic information among vehicles has tremendous potential impacts on network performance especially in the case of non-recurrent congestion. To this end, this paper utilizes a microscopic simulation model of traffic in El Paso, Texas to investigate the impacts of incidents on traffic operation and fuel consumption at different market penetration rates (MPR) of connected vehicles. Several scenarios are implemented and tested to determine the impacts of incidents on network performance in an urban area. The scenarios are defined by changing the duration of incidents and the number of lanes closed. This study also shows how communication technology affects network performance in response to congestion. The results of the study demonstrate the potential effectiveness of connected vehicle technology in improving network performance. For an incident with a duration of 900?s and MPR of 80%, total fuel consumption and total travel time decreased by approximately 20%; 26% was observed in network-wide travel time and fuel consumption at 100% MPR.     

Passing Bays for Slow Moving Vehicles on Rural Two‐lane Roads

Abstract

Slow‐moving vehicles, including agricultural vehicles, on arterial highways can cause serious delays to other traffic as well as posing an extra safety risk. This paper elaborates on a small‐scale solution for these problems: the passing bay. It investigates the impacts of a passing bay on the total delay for other motorized vehicles, the number of passing manoeuvres and hindered vehicles, and the mean delay per hindered vehicle. The latter is also considered to be an indicator for traffic safety. The calculations are performed for two characteristic trips with a slow‐moving vehicle. The passing bay is an effective solution to reducing delays on arterial highways when two‐way hourly volumes exceed 600–1000 vehicles. The effects depend on the trip length and speed of the slow‐moving vehicle, and on the passing sight distance limitations of the road. A distance of 2–4?km between the passing bays seems an acceptable compromise between the reduction of delay for other motorized vehicles and the extra discomfort and delay for drivers of slow‐moving vehicles. This result also shows that passing bays are not effective in regions where slow‐moving vehicles mainly make trips shorter than this distance.     

Making an Informed Vehicle Scrappage Decision

Abstract

According to the US Federal Highway Administration (FHWA), the number of publicly owned vehicles in the USA reached 3 913 999 in 2003. In order to maintain a stable vehicle fleet, government agencies must repeatedly make vehicle scrappage decisions because older vehicles must first retire to make room for newer vehicles. Typically, these decisions are made based on a deterministic ranking evaluation model to select candidate vehicles for replacement. The paper applied an objective and probabilistic method to a vehicle dataset collected by the DuPage County Forest Preserve District ((DCFPD), in the state of Illinois). A Weibull‐form survival model with time‐varying covariate and unobserved heterogeneity was estimated on the dataset. The results suggest that in addition to the fact that vehicle age is negatively related to the vehicle’s survival probability, there are other variables that also appear influential. The survival probabilities of alternative fuel vehicles are similar to those of reformulated unleaded gasoline vehicles. The results suggest that a probabilistic and objective model can benefit government agencies in their vehicle scrappage decisions.     

Abatement cost functions for incentive-based policies in the automobile market

This paper compares the outcomes of policies that target vehicle holdings with those that target vehicle usage using data from the US Consumer Expenditure Survey. Results show that a higher price of gasoline shifts vehicle holdings towards more fuel efficient vehicles and reduces the annual demand for miles, whereas imposing a fee on vehicles or a feebate program only shifts vehicle holdings towards more fuel efficient vehicles and has little to no impact on the demand for miles. While it is relatively expensive to reduce CO₂ emission through incentive-based policies, achieving any abatement level is more expensive through imposing fees on vehicles than gasoline taxes. In addition, the maximum amount of abatement attainable by a feebate program is relatively small and the same amount could be achieved by imposing a $0.73 gasoline tax per gallon.     

Characterising Green Light Optimal Speed Advisory trajectories for platoon-based optimisation

Conceptually, a Green Light Optimal Speed Advisory (GLOSA) system suggests speeds to vehicles, allowing them to pass through an intersection during the green interval. In previous papers, a single speed is computed for each vehicle in a range between acceptable minimum and maximum values (for example between standstill and the speed limit). This speed is assumed to be constant until the beginning of the green interval, and sent as advice to the vehicle. The goal is to optimise for a particular objective, whether it be minimisation of emissions (for environmental reasons), fuel usage or delay. This paper generalises the advice given to a vehicle, by optimising for delay over the entire trajectory instead of suggesting an individual speed, regardless of initial conditions – time until green, distance to intersection and initial speed. This may require multiple acceleration manoeuvres, so the advice is sent as a suggested acceleration at each time step. Such advice also takes into account a suitable safety constraint, ensuring that vehicles are always able to stop before the intersection during a red interval, thus safeguarding against last-minute signal control schedule changes. While the algorithms developed primarily minimise delay, they also help to reduce fuel usage and emissions by conserving kinetic energy. Since vehicles travel in platoons, the effectiveness of a GLOSA system is heavily reliant on correctly identifying the leading vehicle that is the first to be given trajectory advice for each cycle. Vehicles naturally form a platoon behind this leading vehicle. A time loop technique is proposed which allows accurate identification of the leader even when there are complex interactions between preceding vehicles. The developed algorithms are ideal for connected autonomous vehicle environments, because computer control allows vehicles’ trajectories to be managed with greater accuracy and ease. However, the advice algorithms can also be used in conjunction with manual control provided Vehicle-to-Infrastructure (V2I) communication is available.     

Intermodal Transit System Coordination

In urban areas where transit demand is widely spread, passengers may be served by an intermodal transit system, consisting of a rail transit line (or a bus rapid transit route) and a number of feeder routes connecting at different transfer stations. In such a system, passengers may need one or more transfers to complete their journey. Therefore, scheduling vehicles operating in the system with special attention to reduce transfer time can contribute significantly to service quality improvements. Schedule synchronization may significantly reduce transfer delays at transfer stations where various routes interconnect. Since vehicle arrivals are stochastic, slack time allowances in vehicle schedules may be desirable to reduce the probability of missed connections. An objective total cost function, including supplier and user costs, is formulated for optimizing the coordination of a general intermodal transit network. A four-stage procedure is developed for determining the optimal coordination status among routes at every transfer station. Considering stochastic feeder vehicle arrivals at transfer stations, the slack times of coordinated routes are optimized, by balancing the savings from transfer delays and additional cost from slack delays and operating costs. The model thus developed is used to optimize the coordination of an intermodal transit network, while the impact of a range of factors on coordination (e.g., demand, standard deviation of vehicle arrival times, etc) is examined.     

Critical Review of Time-Dependent Shortest Path Algorithms: A Multimodal Trip Planner Perspective

Abstract

A multimodal trip planner that produces optimal journeys involving both public transport and private vehicle legs has to solve a number of shortest path problems, both on the road network and the public transport network. The algorithms that are used to solve these shortest path problems have been researched since the late 1950s. However, in order to provide accurate journey plans that can be trusted by the user, the variability of travel times caused by traffic congestion must be taken into consideration. This requires the use of more sophisticated time-dependent shortest path algorithms, which have only been researched in depth over the last two decades, from the mid-1990s. This paper will review and compare nine algorithms that have been proposed in the literature, discussing the advantages and disadvantages of each algorithm on the basis of five important criteria that must be considered when choosing one or more of them to implement in a multimodal trip planner.     

A new modelling approach for road traffic emissions: VERSIT+

The objective of VERSIT+ LD is to predict traffic stream emissions for light-duty vehicles in any particular traffic situation. With respect to hot running emissions, VERSIT+ LD consists of a set of statistical models for detailed vehicle categories that have been constructed using multiple linear regression analysis. The aim is to find empirical relationships between mean emission factors, including confidence intervals, and a limited number of speed–time profile and vehicle related variables. VERSIT+ is a versatile model that has already been used in different projects at different geographical levels. Compared to COPERT IV, the VERSIT+ average speed algorithms provide increased accuracy with respect to the prediction of emissions in specific traffic situations.     

Exploring the impact of connected and autonomous vehicles on freeway capacity using a revised Intelligent Driver Model

ABSTRACT

Connected and autonomous vehicle (CAV) technologies are expected to change driving/vehicle behavior on freeways. This study investigates the impact of CAVs on freeway capacity using a microsimulation tool. A four-lane basic freeway segment is selected as the case study through the Caltrans Performance Measurement System (PeMS). To obtain valid results, various driving behavior parameters are calibrated to the real traffic conditions for human-driven vehicles. In particular, the calibration is conducted using genetic algorithm. A revised Intelligent Driver Model (IDM) is developed and used as the car-following model for CAVs. The simulation is conducted on the basic freeway segment under different penetration rates of CAVs and different freeway speed limits. The results show that with an increase in the market penetration rate, freeway capacity increases, and will increase significantly as the speed limit increases.     

A review of freight modelling procedures

This paper reviews the current practice of modelling freight movements for highway planning purposes. It is noted that few, if any models are explanatory and there is normally a two stage process involving a Macro Forcasting Model that predicts overall changes in vehicle miles, tons lifted and vehicles operated and a Local Spatial Model that predicts changes of movement patterns constrained to the totals provided by the Macro Model. Alternative forms of Spatial Models are described with examples how they have been used and suggestions are made of where improvements could be undertaken.

     

Vehicular event sharing with a mobile peer-to-peer architecture

In vehicular ad hoc networks (VANETs), different types of information can be useful to drivers. Such networks are highly dynamic due to both the movements of the vehicles and the short range of the wireless communications. Thus, the information exchanges between vehicles about relevant information can only rely on short interactions. Therefore, an efficient mechanism to manage and disseminate the relevant information is required. Specifically, we present in this paper a system for data sharing in vehicular networks, which we call Vehicular Event Sharing with a mobile Peer-to-peer Architecture (VESPA). In this system, a new technique based on the concept of Encounter Probability is proposed for vehicles to share information using vehicle-to-vehicle communications. The objective is to facilitate the dissemination of information between vehicles when they meet each other, taking into account the relevance of the data to the drivers. Besides, the relevance must also be considered to inform a driver about the interesting events. Moreover, our proposal takes into account any type of event (e.g., available parking spaces, obstacles in the road, information relative to the coordination of vehicles in emergency situations, etc.) in the network. An experimental evaluation and the implemented prototype show the interest of the system.     

Macroscopic traffic models for vehicle-follower automated transportation systems

The problem of distributing and routing vehicles in a large automated transportation network may be approached through the design of on-line control algorithms, particularly when the network contains many origin-destination pairs and alternate routes. To develop such algorithms, it is necessary to obtain models that accurately represent the dynamic behavior of vehicles on the guideway network. In this paper, models based on density, flow and average velocity variables are derived for the vehicle-follower longitudinal control scheme. Models suitable for use in analysis and simulation work are developed for links, merges, diverges, and stations. The proposed models are shown to compare favorably with simulation results that use explicit modeling of vehicle dynamic modeling of vehicle dynamic interaction.     

Locating inspection facilities in traffic networks: an artificial intelligence approach

Abstract

In order for traffic authorities to attempt to prevent drink driving, check truck weight limits, driver hours and service regulations, hazardous leaks from trucks, and vehicle equipment safety, we need to find answers to the following questions: (a) What should be the total number of inspection stations in the traffic network? and (b) Where should these facilities be located? This paper develops a model to determine the locations of uncapacitated inspection stations in a traffic network. We analyze two different model formulations: a single-objective optimization problem and a multi-objective optimization problem. The problems are solved by the Bee Colony Optimization (BCO) method. The BCO algorithm belongs to the class of stochastic swarm optimization methods, inspired by the foraging habits of bees in the natural environment. The BCO algorithm is able to obtain the optimal value of objective functions in all test problems. The CPU times required to find the best solutions by the BCO are found to be acceptable.     

Some thoughts on competitive tendering in local bus operations

Abstract

This article is derived from a report by Metra Consulting Group for the Dutch Ministry of Public Health and the Environment. The aim of Metra's study was to identify ways of reducing the environmental nuisance of urban traffic without adding excessively to transport costs.

The main theme of the article is that the traditional idea of an inherent conflict between transport efficiency and the environment is mistaken. Both efficiency and the environment are threatened by the same thing: the excessive and indiscriminate use of vehicles. This comes about because of defects in the fiscal and regulatory framework within which people take transport decisions. Suitable reforms in this framework would simultaneously enhance the environment and improve access for all classes of road user.

In the development of this theme, particular attention is paid to transport activities which tend to be neglected by policy makers, such as walking, cycling and urban goods distribution; and to measures which are not always thought of as instruments of policy at all, such as locational policy and development control, vehicle design, and vehicle taxation, especially of goods vehicles.     

Role of the Travel Factor Convenience in Rail Travel and a Framework for its Assessment

Abstract

This paper reviews the travel factor convenience with particular regard to rail travel. Past research has shown that convenience is a concept readily associated with the private car and its perceived ability to provide a door‐to‐door journey. Private vehicles such as cars are often key competitors to public transport. However, convenience with regard to public transport has proved to be somewhat of an ambiguous concept, often showing a high degree of overlap with the other main recognized travel factors. This paper shows that it is possible to consider convenience in rail travel as an embodiment of four themes: access/egress, station facilities/environment, frequency of service/scheduling and interchange between train services. A list of physically measurable elements can be produced relating to these four themes in order to assess the convenience of any particular station. A categorization process is proposed based upon the initial findings of a questionnaire designed to obtain a user perspective upon convenience. It is concluded that no definitive measure of convenience can be produced for rail travel, although a proxy measure, based upon categorization, containing some or all of the defined elements should be possible.     

Innovative systems for the transportation disadvantaged: Toward more efficient and operationally usable planning tools

When considering innovative forms of public transport for specific groups, such as demand responsive services, the challenge is to find a good balance between operational efficiency and 'user friendliness' of the scheduling algorithm even when specialized skills are not available. Regret insertion-based processes have shown their effectiveness in addressing this specific concern. We introduce a new class of hybrid regret measures to understand better why the behaviour of this kind of heuristic is superior to that of other insertion rules. Our analyses show the importance of keeping a good balance between short- and long-term strategies during the solution process. We also use this methodology to investigate the relationship between the number of vehicles needed and total distance covered - the key point of any cost analysis striving for greater efficiency. Against expectations, in most cases decreasing fleet size leads to savings in vehicle mileage, since the heuristic solution is still far from optimality.     

Network-wide traffic and environmental impacts of acceleration and deceleration among Eco-Driving Vehicles in different road configurations

Eco-Driving, a driver behaviour-based method, has featured in a number of national policy documents as part of CO₂ emission reduction or climate change strategies. This investigation comprises a detailed assessment of acceleration and deceleration in Eco-Driving Vehicles at different penetration levels in the vehicle fleet, under varying traffic composition and volume. The impacts of Eco-Driving on network-wide traffic and environmental performance at a number of speed-restricted road networks (30?km/h) is quantified using microsimulation. The results show that increasing levels of Eco-Driving in certain road networks result in significant environmental and traffic congestion detriments at the road network level in the presence of heavy traffic. Increases in CO₂ emissions of up to 18% were found. However, with the addition of vehicle-to-vehicle or vehicle-to-infrastructure communication technology which facilitates dynamic driving control on speed and acceleration/deceleration in vehicles, improvements in CO₂ emissions and traffic congestion are possible using Eco-Driving.     

A network wide simulation strategy of alternative fuel vehicles

This paper presents an integrated simulator “CUIntegration” to evaluate routing strategies based on energy and/or traffic measures of effectiveness for any Alternative Fuel Vehicles (AFVs). The CUIntegration can integrate vehicle models of conventional vehicles as well as AFVs developed with MATLAB-Simulink, and a roadway network model developed with traffic microscopic simulation software VISSIM. The architecture of this simulator is discussed in this paper along with a case study in which the simulator was utilized for evaluating a routing strategy for Plug-in Hybrid Electric Vehicles (PHEVs) and Electric Vehicles (EVs). The authors developed a route optimization algorithm to guide an AFV based on that AFV driver’s choice, which included; finding a route with minimum (1) travel time, (2) energy consumption or (3) a combination of both. The Application Programming Interface (API) was developed using Visual Basic to simulate the vehicle models/algorithms developed in MATLAB and direct vehicles in a roadway network model developed in VISSIM accordingly. The case study included a section of Interstate 83 in Baltimore, Maryland, which was modeled, calibrated and validated. The authors considered a worst-case scenario with an incident on the main route blocking all lanes for 30 min. The PHEVs and EVs were represented by integrating the MATLAB-Simulink vehicle models with the traffic simulator. The CUIntegration successfully combined vehicle models with a roadway traffic network model to support a routing strategy for PHEVs and EVs. Simulation experiments with CUIntegration revealed that routing of PHEVs resulted in cost savings of about 29% when optimized for the energy consumption, and for the same optimization objective, routing of EVs resulted in about 64% savings.     

The electric vehicle touring problem

The increasing concern over global warming has led to the rapid development of the electric vehicle industry. Electric vehicles (EVs) have the potential to reduce the greenhouse effect and facilitate more efficient use of energy resources. In this paper, we study several EV route planning problems that take into consideration possible battery charging or swapping operations. Given a road network, the objective is to determine the shortest (travel time) route that a vehicle with a given battery capacity can take to travel between a pair of vertices or to visit a set of vertices with several stops, if necessary, at battery switch stations. We present polynomial time algorithms for the EV shortest travel time path problem and the fixed tour EV touring problem, where the fixed tour problem requires visiting a set of vertices in a given order. Based on the result, we also propose constant factor approximation algorithms for the EV touring problem, which is a generalization of the traveling salesman problem.