Discrete dynamic models for freeway incident detection systems

This paper considers the problem of freeway incident detection within the general framework of computer‐based freeway surveillance and control. A new approach to the detection of freeway traffic incidents is presented based on a discrete‐time stochastic model of the form ARIMA (0, 1, 3) that describes the dynamics of traffic occupancy observations. This approach utilizes real‐time estimates of the variability in traffic occupancies as detection thresholds, thus eliminating the need for threshold calibration and lessening the problem of false‐alarms. Because the moving average parameters of the ARIMA (0, 1, 3) model change over time, these parameters can be updated occasionally. The performance of the developed detection algorithm has been evaluated in terms of detection rate, false‐alarm rate, and average time‐lag to detection, using a total of 1692 minutes of occupancy observations recorded during 50 representative traffic incidents.     

Towards universal freeway incident detection algorithms

This paper reports the intensive test of the new transport systems centre (TSC) algorithm applied to incident detection on freeways. The TSC algorithm is designed to fulfil the universality expectations of automated incident detection. The algorithm consists of two modules: data processing module and incident detection module. The data processing module is designed to handle specific features of different sites. The Bayesian network based incident detection module is used to store and manage general expert traffic knowledge, and to perform coherent reasoning to detect incidents. The TSC algorithm is tested using 100 field incident data sets obtained from Tullamarine Freeway and South Eastern Freeway in Melbourne, Australia. The performance of the algorithm demonstrates its competitiveness with the best performing neural network algorithm which was developed and tested using the same incident data sets in an early research. Most importantly, both the detection rate and false alarm rate of the TSC algorithm are not sensitive to the incident decision threshold, which greatly improves the stability of incident detection. In addition, a very consistent algorithm performance is achieved when the TSC algorithm is transferred from Southern Expressway of Adelaide to both Tullamarine Freeway and South Eastern Freeway of Melbourne. No substantial algorithm retraining is required. A significant step towards algorithm universality is possible from this research.     

Development and adaptation of constructive probabilistic neural network in freeway incident detection

This paper investigates the use of constructive probabilistic neural network (CPNN) in freeway incident detection, including model development and adaptation. The CPNN was structured based on mixture Gaussian model and trained by a dynamic decay adjustment algorithm. The model was first trained and evaluated on a simulated incident database in Singapore. The adaptation of CPNN on the I-880 freeway in California was then investigated in both on-line and off-line environments. This paper also compares the performance of the CPNN model with a basic probabilistic neural network (BPNN) model. The results show that CPNN has three main advantages over BPNN: (1) CPNN has clustering ability and therefore could achieve similarly good incident-detection performance with a much smaller network size; (2) each Gaussian component in CPNN has its own smoothing parameter that can be obtained by the dynamic decay adjustment algorithm with a few epochs of training; and (3) the CPNN adaptation methods have the ability to prune obsolete Gaussian components and therefore the size of the network is always within control. CPNN has shown to have better application potentials than BPNN in this research.     

An application of the CUSUM algorithm to freeway incident detection based on two contiguous detectors

The CUSUM (cumulative sum of log‐likelihood ratio) algorithm is a detection algorithm that shows potential for the improvement of incident detection algorithms because it is designed to minimize the mean detect delay for a given false alarm constraint and it can also detect changes with different patterns. In this study, the CUSUM algorithm was applied to freeway incident detection by integrating traffic measurements from two contiguous loop detectors and the non‐stationarity of traffic flows. The developed algorithm was tested based on incident data from the PATH program, with consideration given to the impact of different geometric conditions on algorithm performance. It was also compared with two existing algorithms, in order to address the influence of traffic patterns. The evaluation results show that the CUSUM incident detection algorithm can perform equally well in comparison with the selected algorithms.     

Application of wavelet technique to freeway incident detection

This paper presents an application of the wavelet technique to freeway incident detection because wavelet techniques have demonstrated superior performance in detecting changes in signals in electrical engineering. Unlike the existing wavelet incident detection algorithm, where the wavelet technique is utilized to denoise data before the data is input into an algorithm, this paper presents a different approach in the application of the wavelet technique to incident detection. In this approach, the features that are extracted from traffic measurements by using wavelet transformation are directly utilized in detecting changes in traffic flow. It is shown in the paper that the extracted features from traffic measurements in incident conditions are significantly different from those in normal conditions. This characteristic of the wavelet technique was used in developing the wavelet incident detection algorithm in this study. The algorithm was evaluated in comparison with the multi-layer feed-forward neural network, probabilistic neural network, radial basis function neural network, California and low-pass filtering algorithms. The test results indicate that the wavelet incident detection algorithm performs better than other algorithms, demonstrating its potential for practical application.     

Automated detection of lane-blocking freeway incidents using artificial neural networks

A major source of urban freeway delay in the U.S. is non-recurring congestion caused by incidents. The automated detection of incidents is an important function of a freeway traffic management center. A number of incident detection algorithms, using inductive loop data as input, have been developed over the past several decades, and a few of them are being deployed at urban freeway systems in major cities. These algorithms have shown varying degrees of success in their detection performance. In this paper, we present a new incident detection technique based on artificial neural networks (ANNs). Three types of neural network models, namely the multi-layer feedforward (MLF), the self-organizing feature map (SOFM) and adaptive resonance theory 2 (ART2), were developed to classify traffic surveillance data obtained from loop detectors, with the objective of using the classified output to detect lane-blocking freeway incidents. The models were developed with simulation data from a study site and tested with both simulation and field data at the same site. The MLF was found to have the highest potential, among the three ANNs, to achieve a better incident detection performance. The MLF was also tested with limited field data collected from three other freeway locations to explore its transferability. Our results and analyzes with data from the study site as well as the three test sites have shown that the MLF consistently detected most of the lane-blocking incidents and typically gave a false alarm rate lower than the California, McMaster and Minnesota algorithms currently in use.     

Modeling measurement errors and missing initial values in freeway dynamic origin–destination estimation systems

Most existing dynamic origin–destination (O–D) estimation approaches are grounded on the assumption that a reliable initial O–D set is available and traffic volume data from detectors are accurate. However, in most traffic systems, both types of critical information are either not available or subjected to some level of measurement errors such as traffic counts and speed measurement from sensors. To contend with those critical issues, this study presents two robust algorithms, one for estimation of an initial O–D set and the other for tackling the input measurement errors with an extended estimation algorithm. The core concept of the initial O–D estimation algorithm is to decompose the target network in a number of sub-networks based on proposed rules, and then execute the estimation of the initial O–D set iteratively with the observable information at the first time interval. To contend with the inevitable detector measurement error, this study proposes an interval-based estimation algorithm that converts each model input data as an interval with its boundaries being set based on some prior knowledge. The performance of both proposed algorithms has been tested with a simulated system, the I-95 freeway corridor between I-495 and I-695, and the results are quite promising.     

Using the Bayesian updating approach to improve the spatial and temporal transferability of real-time crash risk prediction models

This study aimed to improve the spatial and temporal transferability of the real-time crash risk prediction models by using the Bayesian updating approach. Data from California’s I-880N freeway in 2002 and 2009 and the I-5N freeway in 2009 were used. The crash risk models for these three datasets are quite different from each other. The model parameters do not remain stable over time or space. The transferability evaluation results show that the crash risk models cannot be directly transferred across time and space. The updating results indicate that the Bayesian updating approach is effective in improving both spatial and temporal transferability even when new data are limited. The predictive performance of the updated model increases with an increase in the sample size of the new data. In addition, when limited new data are available, updating an existing model is better than developing a model using the limited new data.     

Understanding the variability of speed distributions under mixed traffic conditions caused by holiday traffic

Understanding the variability of speed patterns and congestion characteristics of interstate freeway systems caused by holiday traffic is beneficial because appropriate countermeasures for safety improvement and congestion mitigation can be prepared and drivers can avoid traffic congestion and change their holiday travel schedules. This study evaluated the traffic congestion patterns during the Thanksgiving holiday period in 2006 using a Gaussian mixture speed distribution estimated by the Expectation–Maximization (EM) algorithm. This mathematical approach showed the potential of improving freeway operational performance evaluation schemes for holiday periods (even non-holiday periods). This study suggested that a Gaussian mixture model using the EM algorithm could be used to properly characterize the severity and the variability of congestion on certain interstate roadway systems. However, this study also pointed out that the fundamental limitations of the mixture model and the statistical significance test about the mixture components should be well understood and need to be further investigated. In addition, because this study investigated the changing patterns of speed distributions with only one interstate freeway system, I-95 northbound, other freeway systems with both directions need to be evaluated so that a more broad and confident analysis on holiday traffic can be achieved.     

Effective arterial road incident detection: A Bayesian network based algorithm

Timely and accurate incident detection is an essential part of any successful advanced traffic management system. The complex nature of arterial road traffic makes automated incident detection a real challenge. Stable performance and strong transferability remain major issues concerning the existing incident detection algorithms. A new arterial road incident detection algorithm TSC_ar is presented in this paper. In this algorithm, Bayesian networks are used to quantitatively model the causal dependencies between traffic events (e.g. incident) and traffic parameters. Using real time traffic data as evidence, the Bayesian networks update the incident probability at each detection interval through two-way inference. An incident alarm is issued when the estimated incident probability exceeds the predefined decision threshold. The Bayesian networks allow us to subjectively build existing traffic knowledge into their conditional probability tables, which makes the knowledge base for incident detection robust and dynamic. Meanwhile, we incorporate intersection traffic signals into traffic data processing. A total of 40 different types of arterial road incidents are simulated to test the performance of the algorithm. The high detection rate of 88% is obtained while the false alarm rate of the algorithm is maintained as low as 0.62%. Most importantly, it is found that both the detection rate and false alarm rate are not sensitive to the incident decision thresholds. This is the unique feature of the TSC_ar algorithm, which suggests that the Bayesian network approach is advanced in enabling effective arterial road incident detection.     

Methods of dropping auxiliary lanes at freeway weaving segments

Auxiliary lanes connecting freeway entrance and exit ramps provide additional space for entering and exiting vehicles to change lanes. The method of dropping auxiliary lanes is critical in the design of freeway auxiliary lanes. This study investigates the performance of different methods of dropping auxiliary lanes. Case studies were conducted at two selected freeway segments with successive entrance or exit ramps in the City of Houston. Traffic simulation analysis results of these two case studies show that additional operational benefits can be achieved by extending an auxiliary lane beyond the freeway weaving segment. The study also found that if the weaving segment is followed by an entrance/exit ramp and this ramp has high traffic volume, it can be less operationally favorable to extend and terminate the auxiliary lane at this entrance/exit ramp location. Instead, dropping the auxiliary lane before this entrance/exit ramp represents a more operationally effective option.     

Stochasticity of freeway operational capacity and chance-constrained ramp metering

The notion of capacity is essential to the planning, design, and operations of freeway systems. However, in the practice freeway capacity is commonly referred as a theoretical/design value without consideration of operational characteristics of freeways. This is evident from the Highway Capacity Manual (HCM) 2000 in that no influence from downstream traffic is considered in the definition of freeway capacity. In contrast to this definition, in this paper, we consider the impact of downstream traffic and define freeway operational capacity as the maximum hourly rate at which vehicles can be expected to traverse a point or a uniform section of a roadway under prevailing traffic flow conditions. Therefore freeway operational capacity is not a single value with theoretical notion. Rather, it changes under different traffic flow conditions. Specifically, this concept addresses the capacity loss during congested traffic conditions. We further study the stochasticity of freeway operational capacity by examining loop detector data at three specifically selected detector stations in the Twin Cities’ area. It is found that values of freeway operational capacity under different traffic flow conditions generally fit normal distributions. In recognition of the stochastic nature of freeway capacity, we propose a new chance-constrained ramp metering strategy, in which, constant capacity value is replaced by a probabilistic one that changes dynamically depending on real-time traffic conditions and acceptable probability of risk determined by traffic engineers. We then improve the Minnesota ZONE metering algorithm by applying the stochastic chance constraints and test the improved algorithm through microscopic traffic simulation. The evaluation results demonstrate varying degrees of system improvement depending on the acceptable level of risk defined.     

Evaluation of forced flows on freeways with single‐loop detectors

This paper documents the development of a simple method for identifying and/or predicting freeway congestion using single loop detection systems. The proposed algorithm is simple and easy to incorporate into most freeway management systems. The Washington State Department of Transportation's Traffic Systems Management Center (TSMC) sponsored the original study. The investigation also led to a recommendation to replace the original TSMC definition of congestion or forced flow conditions with a more reliable indicator. Although, the TSMC has recently implemented a more advanced prediction system based on fuzzy set theory and neural networks to further identify patterns and rules for ramp metering strategies, the findings presented here continue to be constructive to freeway managers looking for quick and easy analyses that rely solely on single‐loop detection systems. The Seattle Area freeway study section used for the original study was the portion of mainline 1–5 northbound starting at the downtown Seattle Station 108 and ending at the Mountlake Terrace Station 193. Several days' worth of volume and lane‐occupancy data were collected for the afternoon time period from 2:30 p.m. to 6:30 p.m. Time intervals of 20 seconds were chosen for each data collection period. Important products of this research include the following:

• simple, and more reliable criterion for the definition of “bottleneck” or forced flow conditions than that originally used by the TSMC.
• simple, and reliable criterion for predicting impending “bottlenecks” or forced flow conditions.
• A proposed variable for improved selection of the appropriate metering rate. (Further analysis of the use of this variable for determining metering rates is recommended for future studies.

The proposed criteria are simple and easy to incorporate into current freeway management computer systems. Further investigation of freeway performance measurement using volume and occupancy data obtained from single‐loop systems is currently being performed.     

Short-term travel time prediction

Effective prediction of travel times is central to many advanced traveler information and transportation management systems. In this paper we propose a method to predict freeway travel times using a linear model in which the coefficients vary as smooth functions of the departure time. The method is straightforward to implement, computationally efficient and applicable to widely available freeway sensor data.We demonstrate the effectiveness of the proposed method by applying the method to two real-life loop detector data sets. The first data set––on I-880––is relatively small in scale, but very high in quality, containing information from probe vehicles and double loop detectors. On this data set the prediction error ranges from 5% for a trip leaving immediately to 10% for a trip leaving 30 min or more in the future. Having obtained encouraging results from the small data set, we move on to apply the method to a data set on a much larger spatial scale, from Caltrans District 12 in Los Angeles. On this data set, our errors range from about 8% at zero lag to 13% at a time lag of 30 min or more. We also investigate several extensions to the original method in the context of this larger data set.     

A new approach to time-of-day control based on a dynamic freeway traffic model

This paper presents a new approach to time-of-day control. While time-of-day control strategies presented up-to-now are only optimal under steady-state conditions, the control algorithm derived in this paper takes into account the evolution of traffic flow according to the time delay between a volume change at a ramp and its subsequent disturbance at a freeway point downstream. The new control strategy is based on the solution of a linear programming optimization problem and makes freeway volume hold the capacity constraints for the total time of control operation. In order to reduce the computational effort a simplified version of the new algorithm is also discussed. Simulation results obtained by use of two different traffic flow models show that control derived through the new algorithm can avoid congestion and ensure operation with peak performance even if a steady-state condition is never attained.     

Stochastic cell transmission model (SCTM): A stochastic dynamic traffic model for traffic state surveillance and assignment

The paper proposes a first-order macroscopic stochastic dynamic traffic model, namely the stochastic cell transmission model (SCTM), to model traffic flow density on freeway segments with stochastic demand and supply. The SCTM consists of five operational modes corresponding to different congestion levels of the freeway segment. Each mode is formulated as a discrete time bilinear stochastic system. A set of probabilistic conditions is proposed to characterize the probability of occurrence of each mode. The overall effect of the five modes is estimated by the joint traffic density which is derived from the theory of finite mixture distribution. The SCTM captures not only the mean and standard deviation (SD) of density of the traffic flow, but also the propagation of SD over time and space. The SCTM is tested with a hypothetical freeway corridor simulation and an empirical study. The simulation results are compared against the means and SDs of traffic densities obtained from the Monte Carlo Simulation (MCS) of the modified cell transmission model (MCTM). An approximately two-miles freeway segment of Interstate 210 West (I-210W) in Los Ageles, Southern California, is chosen for the empirical study. Traffic data is obtained from the Performance Measurement System (PeMS). The stochastic parameters of the SCTM are calibrated against the flow-density empirical data of I-210W. Both the SCTM and the MCS of the MCTM are tested. A discussion of the computational efficiency and the accuracy issues of the two methods is provided based on the empirical results. Both the numerical simulation results and the empirical results confirm that the SCTM is capable of accurately estimating the means and SDs of the freeway densities as compared to the MCS.     

Simulation studies of information propagation in a self-organizing distributed traffic information system

This paper investigates the feasibility of a self-organizing, completely distributed traffic information system based upon vehicle-to-vehicle communication technologies. Unlike centralized traffic information systems, the proposed system does not need public infrastructure investment as a prerequisite for implementation. Due to the complexity of the proposed system, simulation is selected as the primary approach in the feasibility studies. A simulation framework is built based on an existing microscopic traffic simulation model for the simulation studies. The critical questions for building the proposed market-driven system are examined both from communication requirements and traffic engineering points of view. Traffic information propagation both in freeway and arterial networks via information exchange among IVC-equipped vehicles is tested within the simulation framework. Results on the probability of successful IVC and traffic information propagation distance obtained from the simulation studies are generated and analyzed under incident-free and incident conditions for various roadway formats and parameter combinations. Comparisons between the speed of the incident information wave and the speed of the corresponding traffic shock wave due to the incident are analyzed for different scenarios as the most crucial aspect of the information propagation as a potential foundation for application in such a decentralized traffic information system.     

Examination of factors affecting freeway incident clearance times: a comparison of the generalized F model and several alternative nested models

Traffic incidents are a principal cause of congestion on urban freeways, reducing capacity and creating risks for both involved motorists and incident response personnel. As incident durations increase, the risk of secondary incidents or crashes also becomes problematic. In response to these issues, many road agencies in metropolitan areas have initiated incident management programs aimed at detecting, responding to, and clearing incidents to restore freeways to full capacity as quickly and safely as possible. This study examined those factors that impact the time required by the Michigan Department of Transportation Freeway Courtesy Patrol to clear incidents that occurred on the southeastern Michigan freeway network. These models were developed using traffic flow data, roadway geometry information, and an extensive incident inventory database. A series of parametric hazard duration models were developed, each assuming a different underlying probability distribution for the hazard function. Although each modeling framework provided results that were similar in terms of the direction of factor effects, there was significant variability in terms of the estimated magnitude of these impacts. The generalized F distribution was shown to provide the best fit to the incident clearance time data, and the use of poorer fitting distributions was shown to result in severe over‐estimation or under‐estimation of factor effects. Those factors that were found to impact incident clearance times included the time of day and month when the incident occurred, the geometric and traffic characteristics of the freeway segment, and the characteristics of each incident. Copyright © 2012 John Wiley & Sons, Ltd.     

A decentralized control strategy for freeway regulation

A multilevel decentralized control scheme, the cascading technique, with application to the regulation of traffic on an urban freeway is presented. Performance of the decentralized system is compared to the performance of a centralized and a fixed time control structure. It is shown that the decentralized structure performs better than the centralized structure when incidents (lane closures) occur on the freeway. The freeway is modeled in terms of the aggregate variables section density and section speed, and is considered as a system of interconnected subsystems.