Bus travel time modelling using GPS probe and smart card data: A probabilistic approach considering link travel time and station dwell time

Abstract

Path travel time estimation for buses is critical to public transit operation and passenger information system. State-of-the-art methods for estimating path travel time are usually focused on single vehicle with a limited number of road segments, thereby neglecting the interaction among multiple buses, boarding behavior, and traffic flow. This study models path travel time for buses considering link travel time and station dwell time. First, we fit link travel time to shifted lognormal distributions as in previous studies. Then, we propose a probabilistic model to capture interactions among buses in the bus bay as a first-in-first-out queue, with every bus sharing the same set of behaviors: queuing to enter the bus bay, loading/unloading passengers, and merging into traffic flow on the main road. Finally, path travel time distribution is estimated by statistically summarizing link travel time distributions and station dwell time distributions. The path travel time of a bus line in Hangzhou is analyzed to validate the effectiveness of the proposed model. Results show that the model-based estimated path travel time distribution resembles the observed distribution well. Based on the calculation of path travel time, link travel time reliability is identified as the main factor affecting path travel time reliability.     

Estimation of delay variability at signalized intersections for urban arterial performance evaluation

Urban arterial performance evaluation has been broadly studied, with the major focus on average travel time estimation. However, in view of the stochastic nature of interrupted flow, the ability to capture the characteristics of travel time variability has become a critical step in determining arterial level of service (LOS). This article first presents a stochastic approach that integrates classic cumulative curves and probability theories in order to investigate delay variability at signalized intersections, as a dominant part of the link travel time variability. This serves as a basis for arterial travel time estimation, which can be obtained through a convolution of individual link travel time distributions. The proposed approach is then applied in the estimation of travel time along one arterial in Shanghai, China, with abundant automatic vehicle identification (AVI) data sources. The travel time variability is evaluated thoroughly at 30-min intervals, with promising results achieved in comparison to the field measurements. In addition, the estimated travel time distributions are utilized to illustrate the probability of multiple LOS ranges, namely, reliability LOS. The results provide insights into how we might achieve a more reliable and informative understanding of arterial performance.     

Reliability-based network flow estimation with day-to-day variation: A model validation on real large-scale urban networks

Day-to-day variation in the travel times of congested urban transportation networks is a frustrating phenomenon to the users of these networks. These users look pessimistically at the path travel times, and learn to spend additional time to safeguard against serious penalties that await late arrivals at the destinations. These additional expenses are charges similar to the tolls in system equilibrium flow problem, but may not be collected. With this conjecture, the user equilibrium (UE) formulation of congested network flow problem would lack some necessary factors in addressing appropriate path choices. This study, following a previous work proposing pessimistic UE (PUE) flow, aims to show how to measure this additional travel cost for a link, and investigates how different is PUE from UE, and when such differences are pronounced. Data are collected from the peak-hour travel times for the links of paths in the city of Tehran, to estimate the variance of travel times for typical links. Deterministic functions are obtained by calibrating the standard deviation of the daily variations of link travel times, and probabilistic functions by the technique of copula. UE and PUE traffic assignment models are built and applied to three large cities of Mashhad, Shiraz, and Tehran in Iran. The results show that the estimated flows by PUE model replicate the observed flows in screen lines much better than the UE model, particularly for longer trips. Since PUE is computationally equivalent to UE, this improvement is attained virtually at no cost.     

A novel arterial travel time distribution estimation model and its application to energy/emissions estimation

Arterial travel time information is crucial to advanced traffic management systems and advanced traveler information systems. An effective way to represent this information is the estimation of travel time distribution. In this paper, we develop a modified Gaussian mixture model in order to estimate link travel time distributions along arterial with signalized intersections. The proposed model is applicable to traffic data from either fixed-location sensors or mobile sensors. The model performance is validated using real-world traffic data (more than 1,400 vehicles) collected by the wireless magnetic sensors and digital image recognition in the field. The proposed model shows high potential (i.e., the correction rate are above 0.9) to satisfactorily estimate travel time statistics and classify vehicle stop versus non-stop movements. In addition, the resultant movement classification application can significantly improve the estimation of traffic-related energy and emissions along arterial.     

观测路径出行时间下随机网络交通需求估计

道路网络起讫点(OD)需求是城市决策长期交通规划和短期交通管理中的基础参数,准确的交通需求更是实施交通拥堵控制、限行限速、路径诱导等措施的先决条件.综合运用观测的轨迹已知和未知路径出行时间,建立随机网络交通需求估计双层规划模型.上层广义最小二乘模型最小化历史交通需求与待估交通需求、观测路径出行时间与待估路径出行时间之间...     

路径行程时间的组合预测方法研究

立足于历史和实时数据的融合应用,从实际应用角度出发,构筑了一种路径短时行程时间的组合预测模型和相应算法。该组合预测模型包含基于历史数据特征向量的聚类分析子模型和基于路径行程时间序列的自回归子模型,通过贝叶斯概率公式实现子模型的权重分配。并对数据进行滚动式处理,实现权重系数的实时更新。最后选择上海市快速路系统3条典型路径进行实例分析,并与实际牌照自动识别行程时间数据进行对比验证。     

基于元胞自动机的动态路段走行时间计算模型

为建立合理的动态交通网络中路段走行时间模型,分析了动态路段走行时间函数的一般形式,对比国内外常用的几种离散型动态路段走行时间函数,基于元胞自动机交通流模型,建立了动态路段走行时间模型。模型可以根据实际路段驶入率、驶出率,推算出任意时刻进入路段车辆的走行时间,并利用M atlab对模型进行求解和数值分析。结果表明,车辆进入路段后的交通状态是动态路段走行时间的主要影响因素;根据累积驶入驶出车辆数曲线可以直接求出动态路段走行时间,能够为动态交通网络中路径走行时间求解奠定基础。      

通行能力约束下的弹性需求交通投影动态演化模型

利用投影动态系统理论建立了具有路段通行能力约束的弹性需求交通网络动态演化模型.通过分析节点路段处交通流量与出行阻抗关系,揭示了出行者在网络局部对出行路线进行调整的决策过程,并分别建立了有通行能力约束的路段流量更新方程和弹性交通需求下的节点最短行程时间估计方程.通过在整个网络上整合上述两类方程,得到最终的交通网络投影动态...     

基于实时交通信息的行程时间估算及路径选择分析

路段行程时间的估计和预测是诱导系统的关键技术之一。由于路网参数不断变化,路段行程时间的估计必须满足实时性的要求。以城市交通控制系统的基本设施为基础,根据我国城市交通目前的发展状况,分析了影响路段行程时间的各种因素和路段行程时间的组成。利用设置在路段上的车辆自动检测装置搜集到的实时交通流信息,并结合随机服务系统的相关理论建立了城市道路路段行程时间的动态计算模型,提出了一种具有真实最短路径意义的实时动态最短路径选择的方法。     

Travel mode identification using bluetooth technology

Bluetooth technology has been widely used in transportation studies to collect traffic data. Bluetooth media access control (MAC) readers can be installed along roadways to collect Bluetooth-based data. This data is commonly used to measure traffic performance. One of the advantages of using Bluetooth technology to measure traffic performance is that travel time can be measured directly with a certain level of error instead of by estimation. However, travel time outliers can commonly be observed due to different travel mode on arterials. Since travel mode information cannot be directly obtained from the raw Bluetooth-based data, a mathematical methodology is in need to identify travel mode. In this study, a genetic algorithm and neural network (GANN)-based model was developed to identify travel mode. GPS-enabled devices were used to collect ground truth travel time. In order to additionally compare the model performance, K nearest neighbor (KNN) and support vector machine (SVM) were also implemented. N-fold cross validation was applied to statistically assess the models’ results. Since the model performances depend on the model inputs, seven collections of model inputs were tested in order to achieve the best travel mode identification performance. An arterial segment with four consecutive links and three intersections was selected to be the study segment. The results suggested that correctly identifying the three travel modes successfully every time was not possible, although the GANN based model had low misidentification rates. In our study, 6.12% of autos were misidentified as bikes and 10.53% of bikes were misidentified as autos using three links.     

基于数据融合的路段行程时间估计

基于检测器数据的路段行程时间估计通常具有精度不高和可靠性差的特点。论文引入了自适应式卡尔曼滤波,采用K近邻法寻找相似的交通流状态来标定状态转移系数,建立了基于固定型检测器数据和移动型检测器数据的路段行程时间估计融合模型。实际数据的验证结果是,平均相对误差为9.52%,相对误差的标准差为8.92%。研究表明,与基于移动检测器数据的估计方法相比较,该方法极大地改善了估计精度和可靠性,还具有收敛速度快、对初值不敏感、参数少等特点。     

Developing travel time estimation methods using sparse GPS data

Existing methods of estimating travel time from GPS data are not able to simultaneously take account of the issues related to uncertainties associated with GPS and spatial road network data. Moreover, they typically depend upon high-frequency data sources from specialist data providers, which can be expensive and are not always readily available. The study reported here therefore sought to better estimate travel time using “readily available” vehicle trajectory data from moving sensors such as buses, taxis, and logistical vehicles equipped with GPS in “near” real time. To do this, accurate locations of vehicles on a link were first map-matched to reduce the positioning errors associated with GPS and digital road maps. Two mathematical methods were then developed to estimate link travel times from map-matched GPS fixes, vehicle speeds, and network connectivity information with a special focus on sampling frequencies, vehicle penetration rates, and time window lengths. Global positioning system (GPS) data from Interstate I-880 (California) for a total of 73 vehicles over 6 h were obtained from the University of California Berkeley's Mobile Century Project, and these were used to evaluate several travel time estimation methods, the results of which were then validated against reference travel time data collected from high resolution video cameras. The results indicate that vehicle penetration rates, data sampling frequencies, vehicle coverage on the links, and time window lengths all influence the accuracy of link travel time estimation. The performance was found to be best in the 5-min time window length and for a GPS sampling frequency of 60 s.     

考虑关键路径序列的干道绿波协调控制方法

传统的干道协调控制通常以协调流向的通行效率最大为优化目标, 然而在实际交通流量波动环境中, 某些非协调流向的流量在局部时段可能与协调流向相当甚至高于协调流向, 从而影响干道运行的总体效率。为了解决该问题, 研究了1种考虑关键路径序列的干道绿波协调控制方法。利用路径流量分担率和行程时间指数计算各车辆行驶路径的重要度, 并采用系统聚类算法识别干道上车辆行驶的关键路径。在此基础上构建了考虑关键路径序列的干道绿波协调控制模型: 考虑了各关键路径信号相位之间的协调关系, 设置了含0-1变量的信号相位矩阵, 并构建模型的基础约束条件; 设置了无效带宽存在性判断变量和最小重要度判断变量, 构建了考虑路径重要度的绿波带宽分配策略, 确保绿波带宽优先分配给重要度大的关键路径; 以关键路径序列加权绿波带宽总和最大为优化目标, 构建了模型的目标函数。利用VISSIM仿真软件搭建仿真环境, 以武汉市中山路4处交叉口组成的干道路段为例进行仿真验证。实验结果表明: 相比于传统的干道绿波协调控制方法和干道多路径绿波协调控制方法, 考虑关键路径序列的干道绿波协调控制方法使得干道平均延误分别减少了12.1%和4.8%, 平均排队长度分别减少了13.6%和7.6%, 平均停车次数分别下降了16.5%和9.7%;各关键路径的车辆平均行程时间与自身重要度大小严格成反比, 避免了绿波带宽的浪费。     

非均衡网络交通流动态演化规律研究

为描述非均衡网络交通流实际成本-流量状态,考虑置存成本和路段行程时间,建立行程时间动态函数,将其引入用户均衡模型,构建基于出行总成本动态、路径流量动态、路段行程时间动态的交通流演化模型。利用简单网络,采用四阶龙格库塔方法对建立的模型进行数值模拟。动态模型弹性需求下,出行成本调整范围由大到小,趋于平衡值;路径流量迅速增加后,以较小调整范围,趋于平衡值;路段行程时间迅速增加后,逐步趋向于平衡值。固定需求下的出行成本、路径流量、路段行程时间均是反复调整多次后趋近于平衡值,调整范围缩小,次数增加。算例模拟结果表明,模型能够描述网络交通流从一种非均衡状态到另一种非均衡状态的动态调整过程。     

TransCAD平台下OD矩阵反推结果对比研究

在介绍基于T ransCAD软件平台下OD矩阵反推方法基础上,设计不同的OD矩阵反推方案。通过方案反推结果之间的对比,研究基于路段交通量反推OD矩阵的结果精度与交通分配方法、路段拥挤程度、种子OD矩阵以及路段交通量调查点覆盖范围之间的关系。     

不完全动态信息条件下延误风险规避的分布式车载导航系统路线实时优化算法

在没有实时信息或有限的实时信息下,基于畅通可靠度分析,以正常条件下出行时间最短及出现阻塞的风险最小为路径优化的双重目标,通过启发式加权的方法,设计阻塞风险规避的有约束的A*算法,实现分布式车载导航系统准动态路线寻优。同时基于阻塞相关性分析,实现对事故路段及其正相关的路段的有效规避,并通过改进A*算法的启发式函数估计,有效提高最佳路线的搜索效率。最后给出了若干算例以验证算法的合理性及有效性。     

基于混合Copula函数的风雨联合概率分布模型

特殊地区风雨联合作用下高速铁路桥梁和车辆的气动特性会发生改变,进而影响列车安全舒适运行.为了全面描述风雨联合分布规律和时空关联特征,基于兰新高铁自然灾害监测系统的长时气象监测数据,提出基于混合Copula函数的风雨联合概率分布模型.首先选取Gumbel、Clay-ton和Frank Copula函数建立混合Copula...     

基于影响因素可靠度的改进OD反推算法

通过4组测试方案，采用敏感性分析、数理统计分析方法分析了先验矩阵总量、分布结构以及观测OD对数量对OD反推结果的影响程度；提出了考虑先验矩阵和观测路段流量可靠度的改进极大熵算法。研究结果表明：先验矩阵总量基本不影响OD反推结果；先验矩阵分布结构决定着反推结果的准确性；OD反推要求观测路段包含所有OD对，且OD对数量越多，反推结果越准确，基本不会出现OD信息冗余；在反推过程中考虑先验矩阵和观测路段流量可靠度，有助于提高反推精度。     

基于 Select Link 的区域 OD 矩阵更新方法研究

在大范围机动车 OD 调查难以开展的背景下,通常采用路段流量进行 OD 反推,针对传统路段流量反推法无法检验分布结构的缺点,提出一种利用局部路段真实 OD 矩阵进行区域 OD 矩阵更新的方法。即从区域先验 OD 矩阵中减去模型 Select Link 计算的特定路段 OD 矩阵,再加上该路段真实 OD 矩阵,通过替换将区域分布结构更新。当区域多个路段真实 OD 矩阵需要替换到区域 OD矩阵中时,采用两步循环替换法:第一步,单个路段循环替换,每个路段替换后的 OD 矩阵作为下一路段 Select Link 计算的输入;第二步,利用第一步的最终结果,对所有路段 OD 矩阵进行整体替换。以桂林绕城(东)高速为例进行验证,与传统 OD 反推方法相比,结果 OD 矩阵长途出行比例提高了7%,反映了区域机动车分布变化规律,路段流量分配值与调查值相关系数达0.99,证明了更新后 OD 矩阵的准确性。     

Exploiting floating car data for time-dependent Origin–Destination matrices estimation

The study evaluates the added value generated by estimating dynamic demand matrices by information gathered from Floating Car Data (FCD).

Firstly, adopting a large dataset of FCD collected in Rome, Italy, during May 2010, all the monitored trips on a specific district of the city (Eur district) have been collected and analysed in terms of (i) spatial and temporal distribution; (ii) actual route choices and travel times. The data analysis showed that demand data from FCD are usually not suitable to retrieve directly demand matrices, due to a strong dependence of this information from the penetration rate of the monitoring device. Instead, origin–destination travel times and route choice probabilities from FCD are a much more reliable and powerful information with respect to FCD origin–destination flows, since they represent the traffic conditions and behaviors that vehicles experiment along the path.

Thus, several synthetic experiments have been conducted adopting both travel times and route choice probabilities as additional information, with respect to standard link measurements, in the dynamic demand estimation problem. Results demonstrated the strength and robustness associated to these network based data, while link measurements alone are not able to define the real traffic pattern. Adopting both the information of origin–destination travel times and route choice probabilities during the demand estimation process, the spatial and temporal reliability of the estimated demand matrices consistently increases.