Safe design of personal rapid transit systems

The safety of personal rapid transit systems involves careful attention to all features of the design such as the use of a hierarchy of fault-tolerant redundant control systems, bi-stable fail-safe switching, back-up power supplies, vehicle and passenger protection, and attention to the interaction of people with the system. Safety, together with reliability and adequate capacity, must be achieved while making the system economically attractive, hence techniques to achieve these goals at minimum life-cycle cost are primary in PRT design. Building on theory of safe, reliable, environmentally acceptable, and cost-effective design of PRT systems developed during the 1970′s, in 1981 the author and his colleagues initiated design of a new PRT system, now called Taxi 2000. The paper describes the relevant features of Taxi 2000 and principles of safe design incorporated into it.     

A review of the state of the art of personal rapid transit

The paper begins with a review of the rational for development of personal rapid transit, the reasons it has taken so long to develop, and the process needed to develop it. Next I show how the PRT concept can be derived from a system‐significant equation for life‐cycle cost per passenger‐mile as the system that minimizes this quantity. In the bulk of the paper I discuss the state‐of‐the‐art of a series of technical issues that had to be resolved during the development of an optimum PRT design. These include capacity, switching, the issue of hanging vs. supported vehicles, guideways, vehicles, control, station operations, system operations, reliability, availability, dependability, safety, the calculation of curved guideways, operational simulation, power and energy. The paper concludes with a listing of the implications for a city that deploys an optimized PRT system.     

Designing personal rapid transit (PRT) networks

This paper presents a heuristic method for designing a PRT network. Because the PRT system operating characteristics and performance measures differ widely from those of conventional transit technologies, an algorithm for the PRT network design problem (NDP) is derived by using concepts from some current NDP algorithms. We minimize the sum of passenger travel time cost, construction cost, vehicle cost and operational costs, subject to an available budget of guideway, a maximum number of vehicles and given link capacities. Starting with a well-connected initial network, the algorithm eliminates and adds links iteratively as it searches for a near-optimal solution. If this solution satisfies the budget constraint, it is considered to be acceptable. Otherwise, additional links are deleted until a feasible near-optimal solution is obtained. The link elimination phase of the algorithm only considers half of the links at a time which greatly decreases computing time. None of the links in an acceptable solution will be overloaded.     

A note on fare policy in personal rapid transit

The choice of fare policy is more flexible in personal rapid transit than in conventional transit and has some unique aspects. The implementation of fare policies as a function of distance are discussed, and, following a discussion of how the fare would be collected in a PRT system, consideration is given to whether the fare should be per person or per vehicle.     

Network design for personal rapid transit under transit-oriented development

This study addresses guideway network design for personal rapid transit (PRT) favoring transit-oriented development. The guideway network design problem seeks to minimize both the guideway construction cost and users’ travel time. In particular, a set of optional points, known as Steiner points, are introduced in the graph to reduce the guideway length. The model is formulated as a combined Steiner and assignment problem, and a Lagrangian relaxation based solution algorithm is developed to solve the optimal solution. Numerical studies are carried on a real-sized network, and illustrate that the proposed model and solution algorithm can solve the PRT guideway network design problem effectively.     

Dependability as a measure of on-time performance of personal rapid transit systems

A comprehensive method for calculating and measuring Dependability of Personal Rapid Transit systems is derived and compared with the more common measure called Availability. Availability is the percentage of all revenue trips that are completed without interruption. It does not take into account the duration of delays of the passengers because of the diffiiculty of gathering the necessary information in conventional transit systems. In PRT systems, vehicle-hours of travel and of delay relate in a statistically simple way to person-hours of travel and of delay. Therefore, in such systems, it is practical to use the performance measure called Dependability that takes into account the inconveince of people as a result of delays. To form a bridge to present practice, it is recommended that both measures be calculated and compared in forthcoming PRT systems. With today's computer systems, this is easily accomplished.     

Time-based life-cycle assessment for environmental policymaking: Greenhouse gas reduction goals and public transit

As decision-makers increasingly embrace life-cycle assessment (LCA) and target transportation services for regional environmental goals, it becomes imperative that outcomes from changes to transportation infrastructure systems are accurately estimated. Greenhouse gas (GHG) reduction policies have created interest in better understanding how public transit systems reduce emissions. Yet the use of average emission factors (e.g., grams CO₂e per distance traveled) persists as the state-of-the-art masking the variations in emissions across time, and confounding the ability to accurately estimate the environmental effects from changes to transit infrastructure and travel behavior. An LCA is developed of the Expo light rail line and a competing car trip (in Los Angeles, California) that includes vehicle, infrastructure, and energy production processes, in addition to propulsion. When results are normalized per passenger kilometer traveled (PKT), life-cycle processes increase energy use and GHG emissions up to 83%, and up to 690% for smog and respiratory impact potentials. However, the use of a time-independent PKT normalization obfuscates a decision-maker’s ability to understand whether the deployment of a transit system reduces emissions below a future year policy target (e.g., 80% of 1990 emissions by 2050). The year-by-year marginal effects of the decision to deploy the Expo line are developed including reductions in automobile travel. The time-based marginal results provide clearer explanations for how environmental effects in a region change and the critical life-cycle processes that should be targeted to achieve policy targets. It shows when environmental impacts payback and how much reduction is achieved by a policy-specified future year.     

Distributed algorithm for empty vehicles management in personal rapid transit (PRT) network

In this paper, an original heuristic algorithm of empty vehicles management in personal rapid transit network is presented. The algorithm is used for the delivery of empty vehicles for waiting passengers, for balancing the distribution of empty vehicles within the network, and for providing an empty space for vehicles approaching a station. Each of these tasks involves a decision on the trip that has to be done by a selected empty vehicle from its actual location to some determined destination. The decisions are based on a multi‐parameter function involving a set of factors and thresholds. An important feature of the algorithm is that it does not use any central database of passenger input (demand) and locations of free vehicles. Instead, it is based on the local exchange of data between stations: on their states and on the vehicles they expect. Therefore, it seems well‐tailored for a distributed implementation. The algorithm is uniform, meaning that the same basic procedure is used for multiple tasks using a task‐specific set of parameters. Copyright © 2016 John Wiley & Sons, Ltd.     

Control of personal rapid transit systems

The problem of precise longitudinal control of vehicles so that they follow predetermined time-varying speeds and positions has been solved. To control vehicles to the required close headway of at least 0.5 sec, the control philosophy is different from but no less rigorous than that of railroad practice. The preferred control strategy is one that could be called an “asynchronous point follower.” Such a strategy requires no clock synchronization, is flexible in all unusual conditions, permits the maximum possible throughput, requires a minimum of maneuvering and uses a minimum of software. Since wayside zone controllers have in their memory exactly the same maneuver equations as the on-board computers, accurate safety monitoring is practical. The paper discusses the functions of vehicle control; the control of station, merge, and diverge zones; and central control.     

Model aided policy development for the market penetration of natural gas vehicles in Switzerland

Introduction of alternative fuels in the passenger car fleet is widely discussed in the light of emission reductions. Worldwide experiences show that the market introduction depends on the actions of many stakeholders, like car industry, fuel companies and consumers. The process demands well-timed actions and investments, whilst economic chances and risks are distributed highly unequally. Policy makers set the framework conditions, although the influence of the height and timing of subsidies, tax reductions and other stimulation policies are not well understood yet.The market introduction of alternative fuel vehicles was studied with the example of natural gas cars in Switzerland. Stakeholder analysis and system dynamics modeling techniques were used to characterize the system. Analyses identify difficulties and chances in the market penetration process of natural gas cars. For example, a critical balance between fueling station upgrade investments and natural gas car sales is needed. Further, it is found that large time delays exist between strategic policy actions and frequently used market penetration indicators (e.g. car sales and infrastructure expansion), limiting the ability of policy makers to assess the performance of their strategy. Referring to elements of the Balanced Scorecard approach, a set of five alternative indicators is proposed to better measure the performance of the implemented strategy.     

Synchronous or clear-path control in personal rapid transit systems

This note derives an equation for the ratio of the maximum possible station flow to average line flow in a personal rapid transit or dual-mode system using fully synchronous control. It is shown that such a system is impractical except in very small networks.     

Mass transit designed by the user

This paper describes the commuter ride sharing concept as it relates to growing commuter acceptance and the energy intensiveness of various modes. The 10 to 40% reduction in automobile vehicle miles of travel achieved by commuter ride sharing programs is attributed to the satisfaction of the commuter's desire for fast, convenient door-to-door service at a reasonable cost. This excellent level of service, similiar to the privately driven automobile requires the commuter's direct involvement in the development and coordination of such car, van and bus pool programs. Comparing the energy intensiveness of the various commuter modes, the vanpool is the best, consuming about one-half of the BTU's per passenger mile as other modes. When considering the energy required to reach the rail station or bus fringe parking area, the gap widens. Overall, the commuter ride sharing programs have the potential to save 500,000 barrels of oil per day in the U.S. while virtually eliminating traffic congestion and reducing air pollution.     

Characteristics of truck traffic in Singapore

This paper presents the results of a project conducted to study the characteristics of truck traffic in Singapore. Detailed traffic surveys recording counts of vehicles by axle-configuration were performed at 219 sites over a period of nearly two years. The surveys covered 5 different road classes, namely expressways, arterials, collectors, industrial roads and local roads. It was found that the time distribution of truck travel were not the same among the five road classes. The peaking characteristics of truck traffic were less pronounced compared to passenger car traffic. The peak hour truck volume varied from 67.0% to 9.7% of the daily truck traffic as compared to 13.8% for passenger car traffic. The lane distribution pattern of truck traffic was studied in detail by road class, and was found to be a function of total directional traffic volume, total directional truck volume and the number of traffic lanes. Composition analysis was also carried out to study the lane use characteristics of single- and multiple-unit trucks.     

Delay-based passenger car equivalents for trucks at signalized intersections

This paper presents a new methodology for computing passenger car equivalents at signalized intersections that is based on the delay concept. Unlike the commonly used headway-based methods that consider only the excess headway consumed by trucks, the delay-based approach fully considers the additional delay heavy vehicles cause on traffic stream. Delay-based passenger car equivalents are not constant, but depend on traffic volume, truck type and truck percentage. The field data indicated that the passenger car equivalents increase as the traffic volume and the percentage of heavy vehicles increase. The field data were used to calibrate TRAF-NETSIM simulation model that was used to cover a broad range of traffic conditions. Mathematical models to estimate the equivalencies were developed. The passenger car equivalent for single unit trucks vary from 1.00 to 1.37, and for combination trucks 1.00–2.18 depending on traffic volume and truck percentage. The passenger car equivalents are highly correlated with traffic volume and, to some degree, with percentage of heavy vehicles. Although the PCE of 1.5 recommended in the 1985 HCM seems to be more reasonable than the 2.0 recommended in the 1994 and 1997 HCM, both overestimate the impact of single unit trucks. For combination trucks, the 1997 HCM overestimates the capacity reduction effects of the trucks in most cases.     

Ex-post analysis of impacts of the car registration fee in the Czech Republic

Currently, the influence of transportation and its impact on environmental indicators throughout the world are increasing; however, governments of particular countries try to implement new economic instruments with the expectations of changing people’s behaviour or at least environmental parameters of the motor vehicle fleet. The Government of the Czech Republic introduced a new economic instrument, which came into force on 1 January 2009 and was inspired by similar environmental taxes in Member States of the European Union – the car registration fee, which is based on emission parameters of cars. The main target of this fee has been to change the structure of the passenger car fleet in the Czech Republic, particularly to support new registrations of new passenger cars with better environmental characteristics and to decrease the share of new registrations of used passenger cars. This article focuses on an ex-post analysis of impacts of the car registration fee on the structure of the passenger car fleet in the Czech Republic and its environmental characteristics in the first 3 years after the legal mandate of the fee. The case study is based on a correlation analysis and an analysis of statistical data from official sources in the Czech Republic. The impacts of the car registration fee on both the structure of the passenger car fleet in the Czech Republic and the environmental characteristics of new registrations are significant. For the first time since 2004, the number of new registrations of new cars was higher in the period 2009–2011 than the number of new registrations of used cars. Moreover, the share of alternative fuel cars in the passenger car market is increasing and the emissions from private car transport are decreasing.     

Modelling heavy vehicle car‐following behaviour in congested traffic conditions

This study develops a car‐following model in which heavy vehicle behaviour is predicted separately from passenger car. Heavy vehicles have different characteristics and manoeuvrability compared with passenger cars. These differences could create problems in freeway operations and safety under congested traffic conditions (level of service E and F) particularly when there is high proportion of heavy vehicles. With increasing numbers of heavy vehicles in the traffic stream, model estimates of the traffic flow could be degrades because existing car‐following models do not differentiate between these vehicles and passenger cars. This study highlighted some of the differences in car‐following behaviour of heavy vehicle and passenger drivers and developed a model considering heavy vehicles. In this model, the local linear model tree approach was used to incorporate human perceptual imperfections into a car‐following model. Three different real world data sets from a stretch of freeway in USA were used in this study. Two of them were used for the training and testing of the model, and one of them was used for evaluation purpose. The performance of the model was compared with a number of existing car‐following models. The results showed that the model, which considers the heavy vehicle type, could predict car‐following behaviour of drivers better than the existing models. Copyright © 2013 John Wiley & Sons, Ltd.     

Environmental life-cycle assessment of transit buses with alternative fuel technology

The paper presents a life-cycle assessment of costs and greenhouse gas emissions for transit buses deploying a hybrid input-output model to compare ultra-low sulfur diesel to hybrid diesel-electric, compressed natural gas, and hydrogen fuel-cell. We estimate the costs of emissions reductions from alternative fuel vehicles over the life cycle and examine the sensitivity of the results to changes in fuel prices, passenger demand, and to technological characteristics influencing performance and emissions. We find that the alternative fuel buses reduce operating costs and emissions, but increase life-cycle costs. The infrastructure requirement to deploy and operate alternative fuel buses is critical in the comparison of life-cycle emissions. Additionally, efficient bus choice is sensitive to passenger demand, but only moderately sensitive to technological characteristics, and that the relative efficiency of compressed natural gas buses is more sensitive to changes in fuel prices than that of the other bus types.     

Scheduling considerations for a branching transit route

This paper addresses the impacts of different scheduling alternatives for a branching transit route. It examines different schedule alternatives that might be used to optimize the route performance in terms of the passenger traveling time distributed among branch passengers and trunk‐line passengers. The schedule alternatives considered include transit vehicle allocation to different branches, offset shifting across vehicles on different branches, and vehicle holding (slack time) in the transit vehicle schedule. With these variables, several vehicle schedules are devised and examined based on a wide variety of possible passenger boarding scenarios using deterministic service models. Test outcomes provide general conclusions about the performance of the strategies. Vehicle assignment leading to even headways among branches is generally preferred for the case of low passenger demand. However, when passenger demand is high, or the differences between the passenger demands on branches are significant, unequal vehicle assignment will be helpful to improve the overall route performance. Holding, as a proactive strategy in scheduling, has the potential to be embedded into the schedule as a type of slack time, but needs further evidence and study to determine the full set of conditions where it may be beneficial. Offset shifting does not show sufficient evidence to be an efficient strategy to improve route performance in the case of low or high passenger demand.     

The morgantown PRT: It is still running at West Virginia University

It has been over fifteen years since the Morgantown PRT system went into passenger service. Its start was marked by cost overruns, high operating costs and poor reliability. However over time, these initial problems and difficulties have been overcome, and today the system provides an extremely important and reliable service that links downtown Morgantown with three campuses of West Virginia University. It is still running. This paper provides background on the development of the system and current operating characteristics of this famous transit demonstration project.