Tracking a system of shared autonomous vehicles across the Austin,Texas network using agent-based simulation

This study provides a large-scale micro-simulation of transportation patterns in a metropolitan area when relying on a system of shared autonomous vehicles (SAVs). The six-county region of Austin, Texas is used for its land development patterns, demographics, networks, and trip tables. The agent-based MATSim toolkit allows modelers to track individual travelers and individual vehicles, with great temporal and spatial detail. MATSim’s algorithms help improve individual travel plans (by changing tour and trip start times, destinations, modes, and routes). Here, the SAV mode requests were simulated through a stochastic process for four possible fare levels: $0.50, $0.75, $1, and $1.25 per trip-mile. These fares resulted in mode splits of 50.9, 12.9, 10.5, and 9.2% of the region’s person-trips, respectively. Mode choice results show longer-distance travelers preferring SAVs to private, human-driven vehicles (HVs)—thanks to the reduced burden of SAV travel (since one does not have to drive the vehicle). For travelers whose households do not own an HV, SAVs (rather than transit, walking and biking) appear preferable for trips under 10 miles, which is the majority of those travelers’ trip-making. It may be difficult for traditional transit services and operators to survive once SAVs become available in regions like Austin, where dedicated rail lines and bus lanes are few. Simulation of SAV fleet operations suggest that higher fare rates allow for greater vehicle replacement (ranging from 5.6 to 7.7 HVs per SAV, assuming that the average SAV serves 17–20 person-trips per day); when fares rise, travel demands shift away from longer trip distances. Empty vehicle miles traveled by the fleet of SAVs ranged from 7.8 to 14.2%, across the scenarios in this study. Implications of mobility and sustainability benefits of SAVs are also discussed in the paper.     

Historic vehicles: an overview from a transport policy perspective

Historic vehicles (HVs) are the heritage of road transport that have surprisingly received little attention in the academic literature. This study presents an overview of the literature on HVs, focusing on the three topics that dominate the policy debate on transport: environmental, safety and congestion impacts. We observed that polluting emissions of HVs are per kilometre much higher (often a factor 5 or more) than those of moderns vehicles. The annual average mileage per vehicle per year of HVs is much lower than other vehicles. The lower active and passive safety levels of HVs are compensated by the way these vehicles are driven, resulting in the risk factors per kilometre being roughly equal or lower than other vehicles. The contribution of HVs to congestion is negligible. However, the transport policy discourse is divided on the topic of HVs. More comprehensive and effective laws and regulation are needed to protect this aspect of the heritage of road transport whilst concurrently avoiding or limiting the problems caused by them.     

Congestion and emissions mitigation: A comparison of capacity,demand, and vehicle based strategies

Capacity, demand, and vehicle based emissions reduction strategies are compared for several pollutants employing aggregate US congestion and vehicle fleet condition data. We find that congestion mitigation does not inevitably lead to reduced emissions; the net effect of mitigation depends on the balance of induced travel demand and increased vehicle efficiency that in turn depend on the pollutant, congestion level, and fleet composition. In the long run, capacity-based congestion improvements within certain speed intervals can reasonably be expected to increase emissions of CO₂e, CO, and NO_x through increased vehicle travel volume. Better opportunities for emissions reductions exist for HC and PM_2.5 emissions, and on more heavily congested arterials. Advanced-efficiency vehicles with emissions rates that are less sensitive to congestion than conventional vehicles generate less emissions co-benefits from congestion mitigation.     

A study of feasibility and potential benefits of organised car sharing in Ireland

In this study, the market potential of car sharing has been evaluated using multiple alternative scenarios which examine the geographic, financial and environmental factors influencing car sharing adoption. The scenarios are applied to the available and collected travel information of the Irish population to estimate the potential impact of introducing car sharing in Ireland. The analysis identified that car owners who travel predominantly on alternative modes, could make significant cost and CO₂ savings through car sharing. A reduction of yearly CO₂ emissions of 86 kt is readily achievable through car sharing, with reductions up to 895 kt possible with appropriate policy and financial support. These figures are comparable to other measures proposed under the Irish National Climate Change Strategy.     

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.     

Investigation of the use of smartphone applications for trip planning and travel outcomes

This paper explores the use of smartphone applications for trip planning and travel outcomes using data derived from a survey conducted in Halifax, Nova Scotia, in 2015. The study provides empirical evidence of relationships of smartphone use for trip planning (e.g. departure time, destination, mode choice, coordinating trips and performing tasks online) and resulting travel outcomes (e.g. vehicle kilometers traveled, social gathering, new place visits, and group trips) and associated factors. Several sets of factors such as socio-economic characteristics and travel characteristics are tested and interpreted. Results suggest that smartphone applications mostly influence younger individuals’ trip planning decisions. Transit pass owners are the frequent users of smartphone applications for trip planning. Findings suggest that transit pass owners commonly use smartphone applications for deciding departure times and mode choices. The study also identifies the limited impact of smartphone application use on reducing travel outcomes, such as vehicle kilometers traveled. The highest impact is in visiting new places (a 48.8% increase). The study essentially offers an original in-depth understanding of how smartphone applications are affecting everyday travel.     

Prospects for plug-in hybrid electric vehicles in the United States and Japan: A general equilibrium analysis

The plug-in hybrid electric vehicle (PHEV) may offer a potential near term, low-carbon alternative to today’s gasoline- and diesel-powered vehicles. A representative vehicle technology that runs on electricity in addition to conventional fuels was introduced into the MIT Emissions Prediction and Policy Analysis (EPPA) model as a perfect substitute for internal combustion engine (ICE-only) vehicles in two likely early-adopting markets, the United States and Japan. We investigate the effect of relative vehicle cost and all-electric range on the timing of PHEV market entry in the presence and absence of an advanced cellulosic biofuels technology and a strong (450 ppm) economy-wide carbon constraint. Vehicle cost could be a significant barrier to PHEV entry unless fairly aggressive goals for reducing battery costs are met. If a low-cost PHEV is available we find that its adoption has the potential to reduce CO₂ emissions, refined oil demand, and under a carbon policy the required CO₂ price in both the United States and Japan. The emissions reduction potential of PHEV adoption depends on the carbon intensity of electric power generation. Thus, the technology is much more effective in reducing CO₂ emissions if adoption occurs under an economy-wide cap and trade system that also encourages low-carbon electricity generation.     

Impact of vehicle usage on consumer choice of hybrid electric vehicles

We analyze the vehicle usage and consumer profile attributes extracted from both National Household Travel Survey and Vehicle Quality Survey data to understand the impact of vehicle usage upon consumers’ choices of hybrid electric vehicles in the US. In addition, the key characteristics of hybrid vehicle drivers are identified to determine the market segmentations of hybrid electric vehicles and the critical attributes to include in the choice model. After a compatibility test of two datasets, a pooled choice model combining both data sources illustrates the significant influences of vehicle usage upon consumers’ choices of hybrid electric vehicles. Even though the data-bases have in the past been used independently to study travel behavior and vehicle quality ratings, here we use them together.     

Resolving the property right of transportation emissions through public–private partnerships

The application of public–private partnerships (P3’s) in the transportation sector has grown in popularity worldwide. Despite this important shift in the provision of transportation service, there are clear gaps in knowledge about the impacts of P3 projects, especially on emissions from transportation systems as a whole. Not only should policy makers evaluate the emissions impacts from P3 projects, but they should also think about innovative models that address or charge for emissions into P3 contracts. This addition to P3 contracts could provide a new solution to the long-existing property right paradox: who owns (is responsible for) emissions from transportation systems? This study attempts to fill the research gap by analyzing these innovative models. Using the road network of Fresno, California, as our case study, we offer a number of interesting insights for policy makers. First, average peak emissions costs range from 1.37 cents per mile (the do-nothing case) to 1.20 cents per mile (profit-maximizing cases) per vehicle. Although emissions costs from the P3 projects are lowest for the profit-maximizing cases, the system-wide emissions costs of these cases are highest because of spillover effects. Second, charging project owners for the emissions costs of P3 projects is not an effective way to reduce emissions or the total costs of travel, especially on a VMT basis. Instead, the public sector should implement emissions-included social cost-based price ceilings. When employing these limits, project owners could still be charged for the emissions costs. Finally, using total travel time as the only objective function for evaluating P3 projects can be misleading. Several P3 projects have shown better outcomes using total travel cost with the inclusion of emissions and fuel consumption costs, instead of using total travel time as the only objective function.     

A structural analysis of vehicle design responses to Corporate Average Fuel Economy policy

The US Corporate Average Fuel Economy (CAFE) regulations are intended to influence automaker vehicle design and pricing choices. CAFE policy has been in effect for the past three decades, and new legislation has raised standards significantly. We present a structural analysis of automaker responses to generic CAFE policies. We depart from prior CAFE analyses by focusing on vehicle design responses in long-run oligopolistic equilibrium, and we view vehicles as differentiated products, taking demand as a general function of price and product attributes. We find that under general cost, demand, and performance functions, single-product profit maximizing firm responses to CAFE standards follow a distinct pattern: firms ignore CAFE when the standard is low, treat CAFE as a vehicle design constraint for moderate standards, and violate CAFE when the standard is high. Further, the point and extent of first violation depends upon the penalty for violation, and the corresponding vehicle design is independent of further standard increases. Thus, increasing CAFE standards will eventually have no further impact on vehicle design if the penalty for violation is also not increased. We implement a case study by incorporating vehicle physics simulation, vehicle manufacturing and technology cost models, and a mixed logit demand model to examine equilibrium powertrain design and price decisions for a fixed vehicle body. Results indicate that equilibrium vehicle design is not bound by current CAFE standards, and vehicle design decisions are directly determined by market competition and consumer preferences. We find that with increased fuel economy standards, a higher violation penalty than the current stagnant penalty is needed to cause firms to increase their design fuel economy at equilibrium. However, the maximum attainable improvement can be modest even if the penalty is doubled. We also find that firms’ design responses are more sensitive to variation in fuel prices than to CAFE standards, within the examined ranges.     

Hybrid- and battery-electric vehicles offer low-cost climate benefits in China

Car ownership in China is expected to grow dramatically in the coming decades. If growing personal vehicle demand is met with conventional cars, the increase in greenhouse gas emissions will be substantial. One way to mitigate carbon dioxide (CO₂) emissions from passenger travel is to meet growing demand for cars with alternative vehicles such as hybrid- and battery-electric vehicles (HEVs and BEVs). Our study examines the cost-effectiveness of transitioning from conventional cars to HEVs and BEVs, by calculating their marginal abatement cost (MAC) of carbon in the long-run. We find that transitioning from conventional to hybrid and battery electric light-duty, four-wheel vehicles can achieve carbon emissions reductions at a negative cost (i.e. at a net benefit) in China. In 2030, the average MAC is estimated to be about −$140/ton CO₂ for HEVs and −$515/ton CO₂-saved for BEVs, varying by key parameters. The total mitigation potential of each vehicle technology is estimated to be 1.38 million tons for HEVs and 0.75 million tons for BEVs.     

Siting public electric vehicle charging stations in Beijing using big-data informed travel patterns of the taxi fleet

Charging infrastructure is critical to the development of electric vehicle (EV) system. While many countries have implemented great policy efforts to promote EVs, how to build charging infrastructure to maximize overall travel electrification given how people travel has not been well studied. Mismatch of demand and infrastructure can lead to under-utilized charging stations, wasting public resources. Estimating charging demand has been challenging due to lack of realistic vehicle travel data. Public charging is different from refueling from two aspects: required time and home-charging possibility. As a result, traditional approaches for refueling demand estimation (e.g. traffic flow and vehicle ownership density) do not necessarily represent public charging demand. This research uses large-scale trajectory data of 11,880 taxis in Beijing as a case study to evaluate how travel patterns mined from big-data can inform public charging infrastructure development. Although this study assumes charging stations to be dedicated to a fleet of PHEV taxis which may not fully represent the real-world situation, the methodological framework can be used to analyze private vehicle trajectory data as well to improve our understanding of charging demand for electrified private fleet. Our results show that (1) collective vehicle parking “hotspots” are good indicators for charging demand; (2) charging stations sited using travel patterns can improve electrification rate and reduce gasoline consumption; (3) with current grid mix, emissions of CO₂, PM, SO₂, and NO_x will increase with taxi electrification; and (4) power demand for public taxi charging has peak load around noon, overlapping with Beijing’s summer peak power.     

Forecasting light-duty vehicle demand using alternative-specific constants for endogeneity correction versus calibration

We investigate parameter recovery and forecast accuracy implications of incorporating alternative-specific constants (ASCs) in the utility functions of vehicle choice models. We compare two methods of incorporating ASCs: (1) a maximum likelihood estimator that computes ASCs post-hoc as calibration constants (MLE-C) and (2) a generalized method of moments estimator that uses instrumental variables (GMM-IV) to correct for price endogeneity. In a synthetic study we observe significant coefficient bias with MLE-C when the price-ASC correlation (endogeneity) is large. GMM-IV successfully mitigates this bias given valid instruments but exacerbates the bias given invalid instruments. Despite greater coefficient bias, MLE-C yields better forecasts than GMM-IV with valid instruments in most of the cases examined, including most cases where the price-ASC correlation present in the estimation data is absent in the prediction data. In a market study of U.S. midsize sedan sales from 2002 – 2006 the GMM-IV model predicts the 1-year-forward market better, but the MLE-C model predicts the 5-year-forward market better. Including an ASC in predictions by any of the methods proposed improves share forecasts, and assuming that the ASC of each new vehicle matches that of its closest competitor vehicle yields the best long term forecasts. We find evidence that the instruments most frequently used in the automotive demand literature may be invalid.     

Exploring transport carbon futures using population microsimulation and travel diaries: Beijing to 2030

Evaluating transport policy for cities in developing countries is often constrained by data availability that limits the use of conventional appraisal models. Here, we present a new ‘bottom-up’ methodology to estimate transport CO₂ emission from daily urban passenger travel for Beijing, a megacity with relatively sparse data on travel behaviour. A spatial microsimulation, based on an activity diary survey and two sample population censuses, is used to simulate, for Beijing’s urban districts, a realistic synthetic population, and their daily travel and CO₂ emission over 2000–2010. This approach provides greater insight into the spatial variability of transport CO₂ emission than has previously been possible for Beijing, and further, enables an examination of the role of socio-demographics, urban form and transport developments in contributing to emissions over the modelled period.Using the 2000–2010 CO₂ emission estimates as a baseline, CO₂ emissions from passenger travel are then modelled to 2030 under scenarios exploring politically plausible strategies on transport (public transport infrastructure investment, and vehicle constraint), urban development (compaction) and vehicle technology (faster adoption of clean vehicle technology). The results showed that, compared to the trend scenario, employing both transport and urban development policies could reduce total passenger CO₂ emission to 2030 by 24%, and by 43% if all strategies were applied together. The study reveals the potential of microsimulation in emission estimation for large cities in developing countries where data availability may constrain more traditional approaches.     

Improving estimates of transportation emissions: Modeling hourly truck traffic using period-based car volume data

We estimate hourly truck traffic using period-based car volumes that are usually available from travel demand models. Due to the lack of local or regional data, default vehicle-miles traveled mix by vehicle class in mobile emission inventory models is usually used in transportation emissions inventory estimates. Results from such practice, however, are often far from accurate. Heavy-duty trucks generate orders of magnitudes higher emission rates than light duty vehicles. Vehicle classification data collected from weigh-in-motion stations in California are used to examine the performance of various forms of the method across days of week and geographic areas. We find that the models identified provide satisfactory and statistically robust estimates of truck traffic.     

Gas anxiety and the charging choices of plug-in hybrid electric vehicle drivers

Plug-in hybrid electric vehicles (PHEVs) can provide many of the benefits of battery electric vehicles (BEVs), such as reduced petroleum consumption and greenhouse gas emissions, without the “range anxiety” that can accompany driving a vehicle with limited range when there are few charging opportunities. However, evidence indicates that PHEVs are often plugged in more frequently than BEVs in practice. This is somewhat paradoxical: drivers for whom plugging in is optional tend to do so more frequently than those for whom it is necessary. This has led to the coining of a new term – “gas anxiety” – to describe the apparent desire of PHEV drivers to avoid using gasoline. In this paper, we analyze the variables influencing the charging choices of PHEV owners, testing whether drivers express preferences consistent with the concept of gas anxiety. We analyze data collected in a web-based stated preference survey using a latent class logit model. The results reveal two classes of decision-making patterns among the survey respondents: (1) those who weight the cost of gasoline and the cost of recharging approximately equally (the cost-minimizing class), and (2) those who weight the cost gasoline more heavily than the cost of recharging (the gas anxiety class). Respondents in the gas anxiety class expressed a willingness to recharge at a charging station even when doing so would cost approximately four times as much as the cost of the gasoline avoided. While the gas anxiety class represents the majority of our sample, more recent PHEV adopters are more likely to be in the cost-minimizing class. Looking forward, this suggests that public charging station operators may need to price charging competitively with gasoline on a per-mile basis to attract PHEV owners.     

Prediction of vehicle CO2 emission and its application to eco-routing navigation

Transportation sector accounts for a large proportion of global greenhouse gas and toxic pollutant emissions. Even though alternative fuel vehicles such as all-electric vehicles will be the best solution in the future, mitigating emissions by existing gasoline vehicles is an alternative countermeasure in the near term. The aim of this study is to predict the vehicle CO₂ emission per kilometer and determine an eco-friendly path that results in minimum CO₂ emissions while satisfying travel time budget. The vehicle CO₂ emission model is derived based on the theory of vehicle dynamics. Particularly, the difficult-to-measure variables are substituted by parameters to be estimated. The model parameters can be estimated by using the current probe vehicle systems. An eco-routing approach combining the weighting method and k-shortest path algorithm is developed to find the optimal path along the Pareto frontier. The vehicle CO₂ emission model and eco-routing approach are validated in a large-scale transportation network in Toyota city, Japan. The relative importance analysis indicates that the average speed has the largest impact on vehicle CO₂ emission. Specifically, the benefit trade-off between CO₂ emission reduction and the travel time buffer is discussed by carrying out sensitivity analysis in a network-wide scale. It is found that the average reduction in CO₂ emissions achieved by the eco-friendly path reaches a maximum of around 11% when the travel time buffer is set to around 10%.     

Implications of current household vehicle ownership and use patterns on the feasibility of electric cars

Electric cars provide the convenience and mobility of internal combustion engine vehicles without their dependence on fossil fuels or their associated environmental problems. While range constraints continue to limit their ultimate market acceptance, recent changes in the automotive marketplace have made American consumers more energy conscious. This paper examines a recently conducted U.S. survey of household travel behavior. The objective of the analysis is to determine the implications of observed vehicle ownership and use patterns on the feasibility of limited performance vehicles. Several factors are identified which serve to enhance the potential market penetration of electric cars. Included here are the recent growth in multiple vehicle ownership, and significant functional specialization in household allocation of vehicle use. On the other hand, it is pointed out that the substitutability of electric cars with the majority of currently owned vehicles is not clear by virtue of either their seating capacity, luggage space, or other specialized characteristics. Moreover, it is shown that the majority of secondary household cars are purchased used, which raises questions on the cost competitiveness of electric cars.The analysis of household daily driving range confirms the finding from previous studies that currently available electric vehicle technology can serve over 95 percent of vehicle travel requirements. However, serious flaws are pointed out in the use of cross sectional travel diaries for such analyses, raising questions as to the validity of the results. Overall, it is concluded that the ultimate potential size of the electric vehicle market with current technology is about one third of U.S. household vehicles, representing approximately one fifth of total non-commercial VKT. However, more research is needed to assess whether functionally feasible electric vehicles can actually be competitive under market conditions.     

Exploring electric vehicle charging patterns: Mixed usage of charging infrastructure

This paper examines the charging behavior of 7,979 plug-in electric vehicle (PEV) owners in California. The study investigates where people charge be it at home, at work, or at public location, and the level of charging they use including level 1, level 2, or DC fast charging. While plug-in behavior can differ among PEV owners based on their travel patterns, preferences, and access to infrastructure studies often make generalizations about charging behavior. In this study, we explore differences in charging behavior among different types of PEV owners based on their use of charging locations and levels, we then identify factors associated with PEV owner’s choice of charging location and charging level. We identified socio-demographic (gender and age), vehicle characteristics, commute behavior, and workplace charging availability as significant factors related to the choice of charging location.     

Modeling the charging and route choice behavior of BEV drivers

Due to the limited cruising range of battery electric vehicle (BEV), BEV drivers show obvious difference in travel behavior from gasoline vehicle (GV) drivers. To analyze BEV drivers’ charging and route choice behaviors, and extract the differences between BEV and GV drivers’ travel behavior, two multinomial logit-based and two nested logit-based models are proposed in this study based on a stated preference survey. The nested structure consists of two levels: the upper level represents the charging decision, and the lower level shows the route choices corresponding to the charging and no-charging situations respectively. The estimated results demonstrate that the nested structure is more appropriate than the multinomial structure. Meanwhile, it is observed that the initial state of charge (SOC) at origin of BEV is the most important factor that affects the decision of charging or not, and the SOC at destination becomes an important impact factor affecting BEV drivers’ route choice behavior. As for the route choice behavior when BEV has charging demand, the charging station attributes such as charging time and charging station’s location have significant influences on BEV drivers’ decision-making process. The results also show that BEV drivers incline to choose the routes with charging station having less charging time, being closer to origin and consistent with travel direction. Finally, based on the proposed models, a series of numerical analysis has been conducted to verify the effect of range anxiety on BEV charging and route choice behavior and to reveal the variation of comfortable initial SOC at origin with travel distance. Meanwhile, the effects of charging time and distance from origin to charging station also have been discussed.