Traffic conflict models to evaluate the safety of signalized intersections at the cycle level

The safety of signalized intersections has often been evaluated at an aggregate level relating collisions to annual traffic volume and the geometric characteristics of the intersection. However, for many safety issues, it is essential to understand how changes in traffic parameters and signal control affect safety at the signal cycle level. This paper develops conflict-based safety performance functions (SPFs) for signalized intersections at the signal cycle level. Traffic video-data was recorded for six signalized intersections located in two cities in Canada. A video analysis procedure is proposed to collect rear-end conflicts and various traffic variables at each signal cycle from the recorded videos. The traffic variables include: traffic volume, maximum queue length, shock wave characteristics (e.g. shock wave speed and shock wave area), and the platoon ratio. The SPFs are developed using the generalized linear models (GLM) approach. The results show that all models have good fit and almost all the explanatory variables are statistically significant leading to better prediction of conflict occurrence beyond what can be expected from the traffic volume only. Furthermore, space-time conflict heat maps are developed to investigate the distribution of the traffic conflicts. The heat maps illustrate graphically the association between rear-end conflicts and various traffic parameters. The developed models can give insight about how changes in the signal cycle design affect the safety of signalized intersections. The overall goal is to use the developed models for the real-time optimization of signalized intersection safety by changing the signal design.     

Development of a signal-head-free intersection control logic in a fully connected and autonomous vehicle environment

Establishment of effective cooperation between vehicles and transportation infrastructure improves travel reliability in urban transportation networks. Lack of collaboration, however, exacerbates congestion due mainly to frequent stops at signalized intersections. It is beneficial to develop a control logic that collects basic safety message from approaching connected and autonomous vehicles and guarantees efficient intersection operations with safe and incident free vehicle maneuvers. In this paper, a signal-head-free intersection control logic is formulated into a dynamic programming model that aims to maximize the intersection throughput. A stochastic look-ahead technique is proposed based on Monte Carlo tree search algorithm to determine the near-optimal actions (i.e., acceleration rates) over time to prevent movement conflicts. Our numerical results confirm that the proposed technique can solve the problem efficiently and addresses the consequences of existing traffic signals. The proposed approach, while completely avoids incidents at intersections, significantly reduces travel time (ranging between 59.4% and 83.7% when compared to fixed-time and fully-actuated control strategies) at intersections under various demand patterns.     

Operational analysis of the contraflow left-turn lane design at signalized intersections in China

The primary objective of the study was to evaluate the impacts of an unconventional left-turn treatment called contraflow left-turn lane (CLL) on the operational performance of left-turn movement at signalized intersections. An analytical model was developed for estimating the capacity of left-turn movement at signalized intersections with the CLL design. The capacity model was calibrated and validated using field data collected at six approaches at five signalized intersections in the city of Handan, China. The results of field data analyses showed that the use of CLL design improved the capacity of left-turn movements. However, the capacity gains with the CLL design were quite stochastic considering the randomness in the arrivals of left-turning vehicles. Analytical delay models were proposed for estimating the delay to left-turning vehicles at intersections with the CLL design. A procedure was also proposed for optimizing the location of the upstream median opening and the green interval of the pre-signal. Simulation analyses were conducted to compare the delay experienced by the left-turning and through vehicles at signalized intersections with the conventional left-turn lane, the CLL and another unconventional left-turn treatment entitled “tandem design”. The results showed that both CLL and tandem designs outperformed conventional left-turn lane design; and the CLL design generated less delay to both the left-turning and through vehicles as compared with the tandem design.     

Investigating the irregularity of bus routes: highlighting how underlying assumptions of bus models impact the regularity results

A bus route is inherently unstable: when the system is uncontrolled, buses fail to maintain their time‐headways and tend to bunch. Several mathematical bus motion models were proposed to reproduce the bus behavior and assess management strategies. However, no work has established how the choice of a model impacts the irregularity of modeled bus systems, that is, the non‐respect of scheduled headways. Because of this gap, a large body of existing works assumes that the ability of these models to reproduce instability comes only from stochasticity, although the link between stochastic inputs and the level of irregularity remains unknown. Moreover, some recognized phenomena such as a change of travel conditions during a day or delays at signalized intersections are ignored. To address these shortcomings, this paper provides an overview of existing dynamic bus‐focused models and proposes a simple way to classify them. Commonly used deterministic and stochastic models are compared, which allows quantifying the relative influence of stochasticity of each model component on outputs. Moreover, we show that a change in the system equilibrium in a full deterministic system can lead to irregularity. Finally, this paper proposes a refinement of travel time models to account for non‐dynamic signals. In presence of traffic signals, we show that a bus system can be self‐regulated. Especially, these insights could help to calibrate bus model inputs to better reproduce real data. Copyright © 2014 John Wiley & Sons, Ltd.     

Mobility and environment improvement of signalized networks through Vehicle-to-Infrastructure (V2I) communications

Traffic signals, even though crucial for safe operations of busy intersections, are one of the leading causes of travel delays in urban settings, as well as the reason why billions of gallons of fuel are burned, and tons of toxic pollutants released to the atmosphere each year by idling engines. Recent advances in cellular networks and dedicated short-range communications make Vehicle-to-Infrastructure (V2I) communications a reality, as individual cars and traffic signals can now be equipped with communication and computing devices. In this paper, we first presented an integrated simulator with V2I, a car-following model and an emission model to simulate the behavior of vehicles at signalized intersections and calculate travel delays in queues, vehicle emissions, and fuel consumption. We then present a hierarchical green driving strategy based on feedback control to smooth stop-and-go traffic in signalized networks, where signals can disseminate traffic signal information and loop detector data to connected vehicles through V2I communications. In this strategy, the control variable is an individual advisory speed limit for each equipped vehicle, which is calculated from its location, signal settings, and traffic conditions. Finally, we quantify the mobility and environment improvements of the green driving strategy with respect to market penetration rates of equipped vehicles, traffic conditions, communication characteristics, location accuracy, and the car-following model itself, both in isolated and non-isolated intersections. In particular, we demonstrate savings of around 15% in travel delays and around 8% in fuel consumption and greenhouse gas emissions. Different from many existing ecodriving strategies in signalized road networks, where vehicles’ speed profiles are totally controlled, our strategy is hierarchical, since only the speed limit is provided, and vehicles still have to follow their leaders. Such a strategy is crucial for maintaining safety with mixed vehicles.     

Manual versus automatic operation of traffic signals

This paper presents the results of a study that evaluated the contribution of manual operation (by a police officer) compared to the automatic control of an actuated signal. It is shown that manual operation improved the operation of congested signalized intersections, as measured by the degree of saturation and total throughput. It is found that the major advantage of manual control is due to the use of long cycle times, resulting in a decrease in lost time during congestion. It is argued that such a strategy can be successfully implemented as part of the automatic control. Measurements have indicated a significant decline in the saturation flow with the increase in the green period. The paper describes the phenomenon and its importance to intersection capacity.     

The evaluation of active bus-priority signal routes

In an attempt to provide priority facilities for high occupancy vehicles, many cities have investigated or installed active bus priority signals at selected intersections. This paper describes one such installation at the intersection of Bell Street and Oriel Road in Heidelberg, Victoria, Australia. In particular, it describes the impact of the signals on bus performance levels and on non-priority traffic performance levels. An evaluation is performed taking account of the costs of the installation, the changes in the amount of fuel consumed and the changes in the perceived, budgeted delay of people passing through the intersection. Perceived, budgeted delay is defined so as to take account of the variability of delay and the perception of small delay changes. The evaluation at this site showed that, for various reasons, it was difficult to justify the priority signals at this isolated intersection.The evaluation is then extended to the concept of a route of bus priority signal intersections. A simple model is built to simulate the performance of such a priority route and the evaluation repeated. As a result of using perceived delay as a measure of performance, it is then shown that although the priority intersections along the route may not be individually justifiable, the priority route as a whole may show considerable net benefits. These benefits will occur given that there are greater than a critical number of priority intersections on the route. This critical number will depend on the assumptions made in the priority route model.It is concluded that re-evaluation of bus priority signal intersections along the lines suggested in the paper may yield a number of viable bus priority intersections and bus priority routes which were previously considered to be non-viable.     

Investigating the applicability of exclusive pedestrian phase at two‐phase actuated controlled intersections

The exclusive pedestrian phase (EPP) has been used in many countries to promote walking around downtown areas by increasing the ease and convenience of pedestrian crossing. However, its applicability has not been systematically demonstrated, especially when an intersection is operated in actuated mode. This paper presents an extensive simulation‐based analysis of the applicability of EPP as compared with a normal concurrent pedestrian‐phase pattern at an isolated intersection controlled by actuated logic. Actuated signal control logics for EPP‐actuated and conventional concurrent pedestrian phase‐actuated controls are developed. Both of these control logics consider pedestrian crossing demands and can adapt to changes in vehicle traffic to reduce vehicle delay as well. A simulation model of a two‐phase controlled intersection is built and calibrated based on field data using VISSIM (PTV Planung Transport Verkehr AG in Karlsruhe, Germany). Extensive analysis is conducted to reveal fully the applicable EPP domain in terms of vehicle traffic demand, pedestrian demand, vehicle turning ratio, and pedestrian diagonal crossing ratio. The results show that the performance and applicable domain of EPP are jointly determined by those five factors. EPP significantly outperforms concurrent pedestrian phase if the vehicle turning ratio is greater than 0.6 and the pedestrian diagonal crossing ratio is greater than 0.6. These results can help traffic engineers in choosing the appropriate pedestrian‐phase patterns at actuated signalized intersections. Copyright © 2015 John Wiley & Sons, Ltd.     

Coordinated transit signal priority supporting transit progression under Connected Vehicle Technology

In this paper, a person-delay-based optimization method is proposed for an intelligent TSP logic that enables bus/signal cooperation and coordination among consecutive signals under the Connected Vehicle environment. This TSP logic, called TSPCV-C, provides a method to secure the mobility benefit generated by the intelligent TSP logic along a corridor so that the bus delay saved at an upstream intersection is not wasted at downstream intersections. The problem is formulated as a Binary Mixed Integer Linear Program (BMILP) which is solved by standard branch-and-bound method. Minimizing per person delay has been adopted as the criterion for the model. The TSPCV-C is also designed to be conditional. That is, TSP is granted only when the bus is behind schedule and the grant of TSP causes no extra total person delay.The logic developed in this research is evaluated using both analytical and microscopic traffic simulation approaches. Both analytical tests and simulation evaluations compared four scenarios: without TSP (NTSP), conventional TSP (CTSP), TSP with Connected Vehicle (TSPCV), and Coordinated TSP with Connected Vehicle (TSPCV-C). The measures of effectiveness used include bus delay and total travel time of all travelers. The performance of TSPCV-C is compared against conventional TSP (CTSP) under four congestion levels and five intersection spacing cases. The results show that the TSPCV-C greatly reduces bus delay at signalized intersection for all congestion levels and spacing cases considered. Although the TSPCV is not as efficient as TSPCV-C, it still demonstrates sizable improvement over CTSP. An analysis on the intersection spacing cases reveals that, as long as the intersections are not too closely spaced, TSPCV can produce a delay reduction up to 59%. Nevertheless, the mechanism of TSPCV-C is recommended for intersections that are spaced less than 0.5 mile away. Simulation based evaluation results show that the TSPCV-C logic reduces the bus delay between 55% and 75% compared to the conventional TSP. The range of improvement corresponding to the four different v/c ratios tested, which are 0.5, 0.7, 0.9 and 1.0, respectively. No statistically significant negative effects are observed except when the v/c ratio equals 1.0.     

An analytical model to conduct a person-based evaluation of transit preferential treatments on signalized arterials

The complexities of urban transportation networks where multiple modes with different characteristics and needs travel in combination with constraints on space and funding make the sustainable management of these systems a challenge. In order to improve transit service, space (e.g., dedicated bus lanes) and time (e.g., transit signal priority strategies) Transit Preferential Treatments (TPT) are deployed to improve transit operations. The objective of this paper is to develop an analytical model that allows for a person-based evaluation of alternative TPTs when considered individually and in combination. In particular, the analytical model is developed to assess person delay and person discharge flow at any intersection that is part of a signalized arterial, where auto arrivals are in platoons. The performance of TPTs is evaluated using both the analytical model and through microsimulation tests on two intersections of San Pablo Avenue in Berkeley, CA. Space TPTs such as dedicated bus lanes and queue jumper lanes are beneficial in reducing bus person delay when provided in addition to the existing lanes; however, the effectiveness of time TPTs such as green extension depends on the level of auto demand in combination with signal settings. Changes in person discharge flow are not significant for any of the treatments tested with the exception of the bus lane substitution with and without green extension, which led to a significant decrease in person discharge flow. Increased bus frequency increases the effectiveness of transit signal priority in reducing total and bus person delay. The analytical model results produce ranking outcomes that are comparable with the microsimulation ones and therefore, the model may be used for a quantitative evaluation of TPTs without the need for data intensive and time consuming calibration efforts required for microsimulation models. The developed model can be used to guide infrastructure and investment decisions on where such TPTs should be implemented and under what conditions space TPTs should be combined with time TPTs to improve person mobility.     

Continuum signalized junction model for dynamic traffic networks: Offset,spillback, and multiple signal phases

This paper extends the continuum signalized intersection model exhaustively studied in Han et al. (2014) to more accurately account for three realistic complications: signal offsets, queue spillbacks, and complex signal phasing schemes. The model extensions are derived theoretically based on signal cycle, green split, and offset, and are shown to approximate well traffic operations at signalized intersections treated using the traditional (and more realistic) on-and-off model. We propose a generalized continuum signal model, which explicitly handles complex vehicle spillback patterns on signalized networks with provable error estimates. Under mild conditions, the errors are small and bounded by fixed values that do not grow with time. Overall, this represents a significant improvement over the original continuum model, which had errors that grew quickly with time in the presence of any queue spillbacks and for which errors were not explicitly derived for different offset cases. Thus, the new model is able to more accurately approximate traffic dynamics in large networks with multiple signals under more realistic conditions. We also qualitatively describe how this new model can be applied to several realistic intersection configurations that might be encountered in typical urban networks. These include intersections with multiple entry and exit links, complex signal phasing, all-red times, and the presence of dedicated turning lanes. Numerical tests of the models show remarkable consistency with the on-and-off model, as expected from the theory, with the added benefit of significant computational savings and higher signal control resolution when using the continuum model.     

A reverse causal-effect modeling approach for signal control of an oversaturated intersection

A novel approach is presented in which signalized intersections are treated as normal highway bottlenecks for improved computational efficiency. It is unique in two ways. First, it treats the signalized intersections as common freeway bottlenecks by a reversed cause and effect modeling approach. Both traffic arrivals and departures are modeled by smooth continuous functions of time as if there were no interruptions to traffic flows from signals. The use of smooth continuous functions for departure curves instead of commonly used step functions makes it easy to apply differential calculus in optimization and future extension to a system of intersections. Second, a dynamic linear programming (LP) model is then developed to maximize the total vehicular output from the intersection during the entire period of congestion subject to prevailing capacity and other operational constraints. The continuous optimal departure flow rate (the effect) is then converted to signal timing parameters (the cause) that can be readily implemented. Two numerical examples are presented to demonstrate the properties of the proposed algorithm and examine its performance.     

Improved driver responses at intersections with red signal countdown timers

Traffic Signal Countdown Timers (TSCTs) are innovative, practical and cost effective technologies with the potential to improve efficiency at signalized intersections. The purpose of these devices is to assist motorists in decision-making at signalized intersections with real-time signal duration information. This study focused specifically on driver responses in the presence of a Red Signal Countdown Timer (RSCT). A Linear Mixed Effect (LME) model was developed to predict the effect of RSCT on the headway of the first vehicle waiting on a red signal. The model predicted 0.72 s reduction in the headway of the first queued vehicle resulting from the presence of RSCT, while the observed difference in mean headway was 0.82 s. This result is suggestive of a reduction in start-up lost time at signalized intersections, i.e., an improvement in signalized intersection efficiency when an RSCT is present.     

Noise level in the vicinity of signalized roundabouts

The analysis, assessment and estimation of noise levels in the vicinity of intersections is a more complex problem than a similar analysis for roads and streets. This is due to the varied geometry of the intersections, differences in the loads of individual movements, participation of heavy vehicles and mass transport vehicles, as well as the various types of traffic management and traffic control. This article analyses the influence of intersection type and traffic characteristics on the noise levels in the vicinity of classic channelized intersections with signalization, roundabouts and signalized roundabouts. Based on the conducted measurements, it has been established that, with comparable traffic parameters and the same distance from the geometric centre of the intersection, the L_Aeq value for signalized roundabouts is 2.5–10.8 dB higher in comparison to classic channelized intersections with signalization and 3.3–6.7 dB higher in relations to the analysed roundabout. Additionally the differences between L_Aeq levels at individual entries at the same signalized roundabouts may reach the value of approximately 4.5 dB. Such situation is influenced by differences in the intersection geometry, diameter of the intersection’s central island, traffic flow type, traffic management at the entries and traffic volume, especially the amount and traffic movements of multiple axle heavy vehicles. These factors have been analysed in detail in relation to signalized roundabouts in this paper.     

Using stop bar detector information to determine turning movement proportions in shared lanes

Turning vehicle volumes at signalized intersections are critical inputs for various transportation studies such as level of service, signal timing, and traffic safety analysis. There are various types of detectors installed at signalized intersections for control and operation. These detectors have the potential of producing volume estimates. However, it is quite a challenge to use such detectors for conducting turning movement counts in shared lanes. The purpose of this paper was to provide three methods to estimate turning movement proportions in shared lanes. These methods are characterized as flow characteristics (FC), volume and queue (VQ) length, and network equilibrium (NE). FC and VQ methods are based on the geometry of an intersection and behavior of drivers. The NE method does not depend on these factors and is purely based on detector counts from the study intersection and the downstream intersection. These methods were tested using regression and genetic programming (GP). It was found that the hourly average error ranged between 4 and 27% using linear regression and 1 to 15% using GP. A general conclusion was that the proposed methods have the potential of being applied to locations where appropriate detectors are installed for obtaining the required data. Copyright © 2016 John Wiley & Sons, Ltd.     

Evaluation of a public transportation level of service concept

The level of service of a bus line is evaluated by its operational characteristics, particularly by the ratio between average bus travel time on a given route and the average passenger car travel time on the shortest distance between the origin and the destination of the bus in question. It is shown that the level-of-service measure may be predicted by such independent variables as route length, average distance between bus stations, number of signalized and unsignalized intersections, and the ratio between such intersections. It is hypothesized that use of other independent variables such as boarding and alighting passengers, or volume to capacity ratio on the route concerned, could improve the predictive power of the suggested models. Further research is recommended on the effect of these latter variables and other operational variables which might influence bus level of service, and also on the comparison between direct bus lines and lines which use transfer points.     

Integrated optimization of bus priority operations in connected vehicle environment

Most previous works associated with transit signal priority merely focus on the optimization of signal timings, ignoring both bus speed and dwell time at bus stops. This paper presents a novel approach to optimize the holding time at bus stops, signal timings, and bus speed to provide priority to buses at isolated intersections. The objective of the proposed model is to minimize the weighted average vehicle delays of the intersection, which includes both bus delay and impact on nearby intersection traffic, ensuring that buses clear these intersections without being stopped by a red light. A set of formulations are developed to explicitly capture the interaction between bus speed, bus holding time, and transit priority signal timings. Experimental analysis is used to show that the proposed model has minimal negative impacts on general traffic and outperforms the no priority, signal priority only, and signal priority with holding control strategies (no bus speed adjustment) in terms of reducing average bus delays and stops. A sensitivity analysis further demonstrates the potential of the proposed approach to be applied to bus priority control systems in real‐time under different traffic demands, bus stop locations, and maximum speed limits. Copyright © 2016 John Wiley & Sons, Ltd.     

Pedestrian delay estimation at signalized intersections in developing cities

This paper proposes a pedestrian delay model suitable for signalized intersections in developing cities, on the basis of a field study conducted in Xi’an, China. The field study consisted of two parts: Part I involved only one crosswalk, and the signal cycle was divided into 13 subphases; Part II involved 13 crosswalks, but the signal cycles were only divided into green phases and non-green phases. It was found that pedestrian arrival rates were not uniform throughout cycles; pedestrians arriving during green phases might also receive delays; pedestrian signal non-compliance was so severe that delays were greatly reduced, but non-complying pedestrians might still receive delays; and for pedestrians walking different directions, though the relationships between average delay and arrival subphase were different, the overall average delays were almost the same. On the basis of the field study results, some assumptions are made about the relationship between average pedestrian delay and arrival subphase, and a new model is developed to estimate pedestrian delays at signalized intersections. The model is validated using the field data, and the validation results indicate that in Xi’an the new model provides much more accurate estimation than the existing models.     

Review on Theoretical Delay Estimation Model for Signalized Intersections

Traffic delay is an effective index for estimating the performance of a signalized intersection. In this study, we provide a comprehensive review of the theoretical delay estimation model over the last ca. 90 years. For fixed-time signalized intersections, we classified the estimation development process into three stages. Stage 1 covered 1920s–1970s, when approaches based on steady-state theory were derived. These methods obtain accurate predictions with low degrees of saturation, but overestimate the delay with higher saturation and cannot provide reasonable results for oversaturated conditions. To accommodate high saturation, time-dependent models were proposed and improved in Stage 2, 1970s–2000s, using coordination transformation techniques. Progression factors to account for the filtering impact from upstream intersections were also introduced during this period. Due to inaccurate approximation of certain specific traffic conditions, some modified approaches and supplementary terms were derived from 2000 onwards (Stage 3), which facilitate the evolution of the delay estimation method and improved approximation results. Some new techniques, including artificial intelligence algorithms, were also introduced into delay estimation in this era. We also describe theoretical delay measurement methods for actuated control intersections with a similar time line. From our summary of the evolution of theoretical delay models, we highlight some deficiencies and future research directions.