Dynamic modeling and control of taxi services in large-scale urban networks: A macroscopic approach

Taxis are increasingly becoming a prominent mobility mode in many major cities due to their accessibility and convenience. The growing number of taxi trips and the increasing contribution of taxis to traffic congestion are cause for concern when vacant taxis are not distributed optimally within the city and are unable to find unserved passengers effectively. A way of improving taxi operations is to deploy a taxi dispatch system that matches the vacant taxis and waiting passengers while considering the search friction dynamics. This paper presents a network-scale taxi dispatch model that takes into account the interrelated impact of normal traffic flows and taxi dynamics while optimizing for an effective dispatching system. The proposed model builds on the concept of the macroscopic fundamental diagram (MFD) to represent the dynamic evolution of traffic conditions. The model considers multiple taxi service firms operating in a heterogeneously congested city, where the city is assumed to be partitioned into multiple regions each represented with a well-defined MFD. A model predictive control approach is devised to control the taxi dispatch system. The results show that lack of the taxi dispatching system leads to severe accumulation of unserved taxi passengers and vacant taxis in different regions whereas the dispatch system improves the taxi service performance and reduces traffic congestion by regulating the network towards the undersaturated condition. The proposed framework demonstrates sound potential management schemes for emerging mobility solutions such as fleet of automated vehicles and demand-responsive transit services.     

Behavior of taxi customers in hailing vacant taxis: a nested logit model for policy analysis

This study models and examines the taxi customers' preferences for hailing vacant taxis on streets. A stated preference survey was conducted to randomly select and interview 1242 taxi customers at taxi stands and pedestrians on streets, who had experiences of taking taxis recently, about their choices under different given hypothetical scenarios. In total, 4968 observations were collected and used for developing the discrete choice models for the analysis. To account for the potential correlations among alternatives, two nested logit models are developed, calibrated, and compared with a standard multinomial logit model in the investigation. The results of likelihood ratio test demonstrate that one of the developed nested logit models is better than the standard multinomial logit model to describe the search behavior of taxi customers. The model results also show that the walking time to and the waiting time at the location for hailing taxis, the extra travel time to the destination because of local circulation for finding a way from the pickup location heading to a passenger's destination, as well as the taxi customers' perceptions for walking to and waiting at taxi stands were found as significant factors to influence their decisions. In addition, the results of market segmentation analysis illustrate the variations in taxi‐search strategies of taxi customers in different districts and regions. Some policy implications on introducing more taxi stands and improving the utilization rates of taxi stands are also discussed. We believe that the proposed models, findings, and discussion are useful for developing micro‐simulation models to evaluate the performance of road traffic networks with taxi services and developing simulation‐based optimization models to answer policy questions related to taxi services. Copyright © 2015 John Wiley & Sons, Ltd.     

Modeling the bilateral micro‐searching behavior for urban taxi services using the absorbing markov chain approach

This paper develops a mathematical model that is based on the absorbing Markov chain approach to describe taxi movements, taking into account the stochastic searching processes of taxis in a network. The local searching behavior of taxis is specified by a logit form, and the O‐D demand of passengers is estimated as a logit model with a choice of taxi meeting point. The relationship between customer and taxi waiting times is modeled by a double‐ended queuing system. The problem is solved with a set of non‐linear equations, and some interesting results are presented. The research provides a novel and potentially useful formulation for describing the urban taxi services in a network.     

Customers’ selections between premium electric taxis and liquefied petroleum gas taxis

Reducing roadside emissions is a common challenge in metropolitan cities. In Hong Kong, conventional liquefied petroleum gas taxis are one of the main contributors to roadside emissions as they operate on the streets 24 h a day with a long daily driving mileage. Moreover, these taxis suffer from a severely poor service reputation. To enhance the environmental friendliness and service quality of the taxi industry, this study explores the market potential of operating premium electric taxis in the dispatching mode. A stated preference survey was conducted to 1410 taxi customers about their taxi-riding choices between premium electric taxis and conventional liquefied petroleum gas taxis. In total, 5640 observations were obtained and used to develop a series of binary logistic regression models with different model formulations for the determination of the significant factors influencing customers’ selections. The findings indicate that walk time to and wait time for taxis were the most critical concerns to the customers, and they were more willing to take premium taxis if their journey distance was longer and their desired improvement on taxi service quality was greater. The socio-demographic status of taxi customers also influences their choices. The associated policy implications are discussed for promoting taxis with better service quality and fewer roadside emissions. The findings provide some policy insights to other international cities that have a similar taxi market to Hong Kong.     

An agent‐based simulation model to assess the impacts of introducing a shared‐taxi system: an application to Lisbon (Portugal)

This paper presents a new concept of urban shared‐taxi services. The proposed system has a new organisational design and pricing scheme that aims to use the capacity in traditional taxi services in a more efficient way. In this system, a taxi acting in ‘sharing’ mode offers lower prices to its clients, in exchange for them to accept sharing the vehicle with other persons who have compatible trips (time and space). The paper proposes and tests an agent‐based simulation model in which a set of rules for space and time matching between a request of a client and the candidate shared taxis is identified. It considers that the client is only willing to accept a maximum deviation from his or her direct route and establishes an objective function for selecting the best candidate taxi. The function considers the minimum travel time combination of pickup and drop‐off of all the pool of clients sharing each taxi while allowing to establish a policy of bonuses to competing taxis with certain number of occupants. An experiment for the city of Lisbon is presented with the objectives of testing the proposed simulation conceptual model and showing the potential of sharing taxis for improving mobility management in urban areas. Results show that the proposed system may lead to significant fare and travel time savings to passengers, while not jeopardising that much the taxi revenues. Copyright © 2014 John Wiley & Sons, Ltd.     

Predicting market potential and environmental benefits of deploying electric taxis in Nanjing,China

This paper investigates the market potential and environmental benefits of replacing internal combustion engine (ICE) vehicles with battery electric vehicles (BEVs) in the taxi fleet in Nanjing, China. Vehicle trajectory data collected by onboard global positioning system (GPS) units are used to study the travel patterns of taxis. The impacts of charger power, charging infrastructure coverage, and taxi apps on the feasibility of electric taxis are quantified, considering taxi drivers’ recharging behavior and operating activities. It is found that (1) depending on the charger power and coverage, 19% (with AC Level 2 chargers and 20% charger network coverage) to 56% (with DC chargers and 100% charger network coverage) of the ICE vehicles can be replaced by electric taxis without driving pattern changes; (2) by using taxi apps to find nearby passengers and charging stations, drivers could utilize the empty cruising time to charge the battery, which may increase the acceptance of BEVs by up to 82.6% compared to the scenario without taxi apps; and (3) tailpipe emissions in urban areas could be significantly reduced with taxi electrification: a mixed taxi fleet with 46% compressed-natural-gas-powered (CNG) and 54% electricity-powered vehicles can reduce the tailpipe emissions by 48% in comparison with the fleet of 100% CNG taxis.     

Optimizing charging station locations for urban taxi providers

Recently, electric vehicles are gaining importance which helps to reduce dependency on oil, increases energy efficiency of transportation, reduces carbon emissions and noise, and avoids tail pipe emissions. Because of short daily driving distances, high mileage, and intermediate waiting time, fossil-fuelled taxi vehicles are ideal candidates for being replaced by battery electric vehicles (BEVs). Moreover, taxi BEVs would increase visibility of electric mobility and therefore encourage others to purchase an electric vehicle. Prior to replacing conventional taxis with BEVs, a suitable charging infrastructure has to be established. This infrastructure consists of a sufficiently dense network of charging stations taking into account the lower driving ranges of BEVs.In this case study we propose a decision support system for placing charging stations in order to satisfy the charging demand of electric taxi vehicles. Operational taxi data from about 800 vehicles is used to identify and estimate the charging demand for electric taxis based on frequent origins and destinations of trips. Next, a variant of the maximal covering location problem is formulated and solved to satisfy as much charging demand as possible with a limited number of charging stations. Already existing fast charging locations are considered in the optimization problem. In this work, we focus on finding regions in which charging stations should be placed rather than exact locations. The exact location within an area is identified in a post-optimization phase (e.g., by authorities), where environmental conditions are considered, e.g., the capacity of the power network, availability of space, and legal issues.Our approach is implemented in the city of Vienna, Austria, in the course of an applied research project that has been conducted in 2014. Local authorities, power network operators, representatives of taxi driver guilds as well as a radio taxi provider participated in the project and identified exact locations for charging stations based on our decision support system.     

Dynamic ride sharing using traditional taxis and shared autonomous taxis: A case study of NYC

This study analyzes the potential benefits and drawbacks of taxi sharing using agent-based modeling. New York City (NYC) taxis are examined as a case study to evaluate the advantages and disadvantages of ride sharing using both traditional taxis (with shifts) and shared autonomous taxis. Compared to existing studies analyzing ride sharing using NYC taxi data, our contributions are that (1) we proposed a model that incorporates individual heterogeneous preferences; (2) we compared traditional taxis to autonomous taxis; and (3) we examined the spatial change of service coverage due to ride sharing. Our results show that switching from traditional taxis to shared autonomous taxis can potentially reduce the fleet size by 59% while maintaining the service level and without significant increase in wait time for the riders. The benefit of ride sharing is significant with increased occupancy rate (from 1.2 to 3), decreased total travel distance (up to 55%), and reduced carbon emissions (up to 866 metric tonnes per day). Dynamic ride sharing, wich allows shared trips to be formed among many groups of riders, up to the taxi capacity, increases system flexibility. Constraining the sharing to be only between two groups limits the sharing participation to be at the 50–75% level. However, the reduced fleet from ride sharing and autonomous driving may cause taxis to focus on areas of higher demands and lower the service levels in the suburban regions of the city.     

The ‘redheads’ of Niamey: an original way of providing urban transport

In Niamey, private motor vehicles carry 80% of those who use public transport. These vehicles are urban shared taxis called ‘redheads’ and run through the streets of the city in all directions. Their vital importance for the mobility of city‐dwellers justifies their strict supervision and the setting of fares by public authorities.

At present, the ‘redheads’ are in crisis. Taxi owners are no longer able to make a profit on their capital and are ceasing to invest. Urban buses are unable to replace taxis, for they operate at a large deficit. The government of Niger hopes to restore the level of transport service by means of new regulations for the taxi business in the city.

But this business is in the hands of both taxi owners and drivers, who, while partners in the operation, dispute over their share of the revenues. The aim of this article is to provide an economic and political analysis of this particular form of production of urban transport, in which employers who cannot control their companies, employees who reserve the profits of the business for themselves, and public authorities who are compelled to intervene, are coming face to face.     

Finding time‐robust fuel‐efficient paths for a call‐taxi in a stochastic city road network

Intra‐city commuting is being revolutionized by call‐taxi services in many developing countries such as India. A customer requests a taxi via phone, and it arrives at the right time and at the right location for the pick‐up. This mode of intra‐city travel has become one of the most reliable and convenient modes of transportation for customers traveling for business and non‐business purposes. The increased number of vehicles on city roads and raising fuel costs has prompted a new type of transportation logistics problem of finding a fuel‐efficient and quickest path for a call‐taxi through a city road network, where the travel times are stochastic. The stochastic travel time of the road network is induced by obstacles such as the traffic signals and intersections. The delay and additional fuel consumption at each of these obstacles are calculated that are later imputed to the total travel time and fuel consumption of a path. A Monte‐Carlo simulation‐based approach is proposed to identify unique fuel‐efficient paths between two locations in a city road network where each obstacle has a delay distribution. A multi‐criteria score is then assigned to each unique path based on the probability that the path is fuel efficient, the average travel time of the path and the coefficient of variation of the travel times of the path. Copyright © 2016 John Wiley & Sons, Ltd.     

Equilibrium properties of taxi markets with search frictions

The equilibrium properties of an aggregate taxi market are investigated using a general bilateral searching and meeting function which characterizes the search frictions between vacant taxis and unserved customers. Three specific issues are analyzed for meeting functions that exhibit increasing, constant and decreasing returns to scale. Firstly, service quality in terms of customer wait/search time and average profit per taxi are examined jointly in relation to taxi fleet size, and a Pareto-improving win-win situation is identified, where an increase in taxi fleet size leads to improvements in both service quality and market profitability. Such a Pareto-improving situation is found to emerge if and only if the meeting functions show increasing returns to scale. Secondly, the properties of the socially optimal solution are examined. It is found that the taxi fleet size should be chosen such that the total cost of operating vacant taxis equals the total cost of customer waiting time multiplied by an asymmetric factor of the meeting function, and that taxi services should be subsidized at social optimum only when the meeting functions show increasing returns to scale. Thirdly, the Pareto-efficient services are examined for trade-offs between social welfare and profits in the light of partially conflicting objectives of the public sector and the private taxi firms using a bi-objective maximization approach. The taxi utilization rate and the customer wait/search time or service quality are proved to be constant along the Pareto frontier and equal to those at social optimum if the meeting functions show constant returns to scale. Extensions are made to the cases with increasing and decreasing returns to scale.     

Taxi vacancy duration: a regression analysis

Taxi vacancy duration is a major efficiency measure for taxi services. A clear understanding of the various factors and their effect on vacancy duration is necessary for the optimal operational management of taxis. Previous research has only dealt with vacancy duration by assuming probability distributions and has not investigated heterogeneity in the data caused by various factors. We develop a parametric duration model using not only new operational characteristics but also variables associated with taxi demand, such as weather, land use, demographics, socioeconomic variables, and accessibility of public transportation. The model is applied to a large-scale New York City (NYC) taxi trip dataset that covers operations for 2013. The results show that all the attributes have significant associations with vacancy duration that follows a log-normal distribution. Our study is expected to help improve the efficiency of taxi operations by decreasing the time spent in vacant states.     

How can the taxi industry survive the tide of ridesourcing? Evidence from Shenzhen,China

This paper aims to examine the impact of ridesourcing on the taxi industry and explore where, when and how taxis can compete more effectively. To this end a large taxi GPS trajectory data set collected in Shenzhen, China is mined and more than 2,700 taxis (or about 18% of all registered in the city) are tracked in a period of three years, from January 2013 to November 2015, when both e-hailing and ridesourcing were rapidly spreading in the city. The long sequence of GPS data points is first broken into separate “trips”, each corresponding to a unique passenger state, an origin/destination zone, and a starting/ending time. By examining the trip statistics, we found that: (1) the taxi industry in Shenzhen has experienced a significant loss in its ridership that can be indisputably credited to the competition from ridesourcing. Yet, the evidence is also strong that the shock was relatively short and that the loss of the taxi industry had begun to stabilize since the second half of 2015; (2) taxis are found to compete more effectively with ridesourcing in peak period (6–10 AM, 5–8 PM) and in areas with high population density. (3) e-hailing helps lift the capacity utilization rate of taxis. Yet, the gains are generally modest except for the off-peak period, and excessive competition can lead to severely under-utilized capacities; and (4) ridesourcing worsens congestion for taxis in the city, but the impact was relatively mild. We conclude that a dedicated service fleet with exclusive street-hailing access will continue to co-exist with ridesourcing and that regulations are needed to ensure this market operate properly.     

Fixed‐route taxi system: route network design and fleet size minimization problems

This paper introduces the taxi route network design problem (TXRNDP) for a fixed‐route taxi service operating in Iran and, in similar form, in various other developing countries. The service operates fairly similar to regular transit services in that vehicles are only permitted to follow a certain predetermined route on the network. The service is provided with small size vehicles and main features are that vehicles only depart if full and that there are no intermediate boarding stops. In Iran the service attracts a high modal share but requires better coordination which is the main motivation for the present study. We develop a mathematical programming model to minimize the total travel time experienced by passengers while constraining the number of taxi lines, the trip transfer ratio and the length of taxi lines. A number of assumptions are introduced in order to allow finding an exact rather than heuristic solution. We further develop a linear programming solution to minimize the number of taxis required to serve the previously found fixed‐route taxi network. Results of a case study with the city of Zanjan, Iran, illustrate the resulting taxi flows and suggest the capability of the proposed model to reduce the total travel time, the total waiting time and the number of taxi lines compared to the current taxi operation. Copyright © 2016 John Wiley & Sons, Ltd.     

ITS applications in public transport: Improving the service to the transport system

This paper examines all the disparate technologies and techniques capable of smoothing the integration of public transport modes and services at both the urban and interurban scale. The paper focuses on the application of information technology and telematics solutions which have been designed to create as seamless a journey as possible from the point of view of the transport system user. The scope of the paper is therefore deliberately wide‐ranging and includes an examination of measures as apparently unconnected as smartcard ticketing, bus priority systems, automatic vehicle locationing, trip planning and on‐board information systems as well as new public transport services offering demand responsive travel and integration with taxi services. The paper intends to show how such technological solutions can be used to increase the attractiveness and competitiveness of fixed public transport networks in comparison to the door‐to‐door flexibility of the private car.     

Conflict‐free time‐based trajectory planning for aircraft taxi automation with refined taxiway modeling

To mitigate airport congestion caused by increasing air traffic demand, the trajectory‐based surface operations concept has been proposed to improve surface movement efficiency while maintaining safety. It utilizes decision support tools to provide optimized time‐based trajectories for each aircraft and uses automation systems to guide surface movements and monitor their conformance with assigned trajectories. Whether the time‐based trajectories can be effectively followed so that the expected benefits can be guaranteed depends firstly on whether these trajectories are realistic. So, this paper first deals with the modeling biases of the network model typically used for taxi trajectory planning via refined taxiway modeling. Then it presents a zone control‐based dynamic routing and timing algorithm upon the refined taxiway model to find the shortest time taxi route and timings for an aircraft. Finally, the presented algorithm is integrated with a sequential planning framework to continuously decide taxi routes and timings. Experimental results demonstrate that the solution time for an aircraft can be steadily around a few milliseconds with timely cleaning of expired time windows, showing potential for real‐time decision support applications. The results also show the advantages of the proposed methodology over existing approaches. Copyright © 2015 John Wiley & Sons, Ltd.     

Optimal scheduling of a taxi fleet with mixed electric and gasoline vehicles to service advance reservations

This study addresses the problem of scheduling a fleet of taxis that are appointed to solely service customers with advance reservations. In contrast to previous studies that have dealt with the planning and operations of a taxi fleet with only electric vehicles (EVs), we consider that most taxi companies may have to operate with fleets comprised of both gasoline vehicles (GVs) and plug-in EVs during the transition from GV to (complete) EV taxi fleets. This paper presents an innovative multi-layer taxi-flow time-space network which effectively describes the movements of the taxis in the dimensions of space and time. An optimization model is then developed based on the time-space network to determine an optimal schedule for the taxi fleet. The objective is to minimize the total operating cost of the fleet, with a set of operating constraints for the EVs and GVs included in the model. Given that the model is formulated as an integer multi-commodity network flow problem, which is characterized as NP-hard, we propose two simple but effective decomposition-based heuristics to efficiently solve the problem with practical sizes. Test instances generated based on the data provided by a Taiwan taxi company are solved to evaluate the solution algorithms. The results show that the gaps between the objective values of the heuristic solutions and those of the optimal solutions are less than 3%, and the heuristics require much less time to obtain the good quality solutions. As a result, it is shown that the model, coupled with the algorithms, can be an effective planning tool to assist the company in routing and scheduling its fleet to service reservation customers.     

Market mechanism design for profitable on-demand transport services

On-demand transport services in the form of dial-a-ride and taxis are crucial parts of the transport infrastructure in all major cities. However, not all on-demand transport services are equal: not-for-profit dial-a-ride services with coordinated drivers significantly differ from profit-motivated taxi services with uncoordinated drivers. In fact, there are two key threads of work on efficient scheduling, routing, and pricing for passengers: dial-a-ride services; and taxi services. Unfortunately, there has been only limited development of algorithms for joint optimization of scheduling, routing, and pricing; largely due to the widespread assumption of fixed pricing. In this paper, we introduce another thread: profit-motivated on-demand transport services with coordinated drivers. To maximize provider profits and the efficiency of the service, we propose a new market mechanism for this new thread of on-demand transport services, where passengers negotiate with the service provider. In contrast to previous work, our mechanism jointly optimizes scheduling, routing, and pricing. Ultimately, we demonstrate that our approach can lead to higher profits and reduced passenger prices, compared with standard fixed price approaches, while also improving efficiency.     

Shared taxis: modelling the choice of a paratransit mode in Santiago de Chile

The shared taxi is a special public transport mode, typical of Chilean cities. It operates with cars offering a maximum capacity of four seats, a predefined coverage area and a route that is fixed in principle, but can be adapted to meet passengers’ needs. During a normal day in Santiago, almost 700,000 trips use shared taxis during one of their stages. This represents about 4% of the total trips made in the city, and this modal share increases in zones and periods with low Metro and bus coverage. This study is a first attempt at studying shared taxis as a relevant transport alternative, analysing its main attributes and modelling its demand. With this purpose, after an analysis of the network and its operation, a revealed preference survey (including perceptual indicators) was applied to public transport users in Santiago who had shared taxi as a feasible alternative. Results show a positive evaluation of the mode’s unique attributes, such as the possibility of travelling seated, reducing transfers and alighting at a convenient destination. The subjective valuation of the attributes derived from the models confirm the strong penalty assigned by Chilean users to alternatives implying transfers or increased walking times. The analysis also shows that studying the characteristics of shared taxi users is relevant in a discussion about its regulation and modernization, considering that, while it is desirable to preserve its positive attributes, this should be done in a context of efficient integration with the rest of the transport system.

     

Determining locations of charging stations for electric taxis using taxi operation data

The adequate provision of charging infrastructure is critical for the effective deployment of electric taxis. This study attempts to locate charging stations for electric taxis reflecting real-world taxi travel patterns identified from taxis equipped with digital tachographs. Data for one week are processed in order to estimate their charge demand. The estimated temporal distribution of charge demand indicates that it varies day-by-day and hour-by-hour. The maximum set covering model is applied for determining the locations of charging stations. The results show that the pre-specified service distance and service coverage rate (defined by the proportion of total demand served) can be critical factors for determining the number and location of charging stations. These factors should be carefully specified by considering the tradeoff between operational efficiency of charging facilities and user convenience.