Multi-step prediction of experienced travel times using agent-based modeling

This paper develops an agent-based modeling approach to predict multi-step ahead experienced travel times using real-time and historical spatiotemporal traffic data. At the microscopic level, each agent represents an expert in a decision-making system. Each expert predicts the travel time for each time interval according to experiences from a historical dataset. A set of agent interactions is developed to preserve agents that correspond to traffic patterns similar to the real-time measurements and replace invalid agents or agents associated with negligible weights with new agents. Consequently, the aggregation of each agent’s recommendation (predicted travel time with associated weight) provides a macroscopic level of output, namely the predicted travel time distribution. Probe vehicle data from a 95-mile freeway stretch along I-64 and I-264 are used to test different predictors. The results show that the agent-based modeling approach produces the least prediction error compared to other state-of-the-practice and state-of-the-art methods (instantaneous travel time, historical average and k-nearest neighbor), and maintains less than a 9% prediction error for trip departures up to 60 min into the future for a two-hour trip. Moreover, the confidence boundaries of the predicted travel times demonstrate that the proposed approach also provides high accuracy in predicting travel time confidence intervals. Finally, the proposed approach does not require offline training thus making it easily transferable to other locations and the fast algorithm computation allows the proposed approach to be implemented in real-time applications in Traffic Management Centers.     

Fast computing and approximate fuel consumption modeling for Internal Combustion Engine passenger cars

This article presents a fuel consumption model, SEFUM (Semi Empirical Fuel Use Modeling), and its comparison with three models from the literature on a 600 km experimental database. This model is easy to calibrate with only a few required parameters that are provided by car manufacturers. The test database has been built from 21 drivers who drove in two conditions (normal and ecodriving) on a 15 km trip. For the model evaluation, three indicators have been selected: instantaneous fuel use root mean square error, cumulated error and computation time in order to evaluate the accuracy both in cumulated and instantaneous fuel use and to estimate computation time of each model. Results tend to prove that the model is able to compute rapidly (maximum of 1500 simulated kilometers under Matlab) in comparison to all other models while ensuring a high accuracy and precision for cumulated and instantaneous fuel use.     

Characterization and prediction of air traffic delays

This paper presents a new class of models for predicting air traffic delays. The proposed models consider both temporal and spatial (that is, network) delay states as explanatory variables, and use Random Forest algorithms to predict departure delays 2–24 h in the future. In addition to local delay variables that describe the arrival or departure delay states of the most influential airports and links (origin–destination pairs) in the network, new network delay variables that characterize the global delay state of the entire National Airspace System at the time of prediction are proposed. The paper analyzes the performance of the proposed prediction models in both classifying delays as above or below a certain threshold, as well as predicting delay values. The models are trained and validated on operational data from 2007 and 2008, and are evaluated using the 100 most-delayed links in the system. The results show that for a 2-h forecast horizon, the average test error over these 100 links is 19% when classifying delays as above or below 60 min. Similarly, the average over these 100 links of the median test error is found to be 21 min when predicting departure delays for a 2-h forecast horizon. The effects of changes in the classification threshold and forecast horizon on prediction performance are studied.     

Reconstructing maximum likelihood trajectory of probe vehicles between sparse updates

Data from connected probe vehicles can be critical in estimating road traffic conditions. Unfortunately, current available data is usually sparse due to the low reporting frequency and the low penetration rate of probe vehicles. To help fill the gaps in data, this paper presents an approach for estimating the maximum likelihood trajectory (MLT) of a probe vehicle in between two data updates on arterial roads. A public data feed from transit buses in the city of San Francisco is used as an example data source. Low frequency updates (at every 200 m or 90 s) leaves much to be inferred. We first estimate travel time statistics along the road and queue patterns at intersections from historical probe data. The path is divided into short segments, and an Expectation Maximization (EM) algorithm is proposed for allocating travel time statistics to each segment. Then the trajectory with the maximum likelihood is generated based on segment travel time statistics. The results are compared with high frequency ground truth data in multiple scenarios, which demonstrate the effectiveness of the proposed approach, in estimating both the trajectory while moving and the stop positions and durations at intersections.     

Can rail/sail compete with air travel to Cyprus? A comparison of emissions

Rail and sea voyage journeys to Cyprus from a variety of origins are constructed to derive the travel emissions and travel time per person to compare popular aviation routes. The hypothetical ‘slow travel’ routes are approximately eight to ten times longer than flying. Emissions are lower from certain origins by about 100 kg CO₂ per person per round trip under reasonably high occupancy conditions when compared to current direct air services. Emissions from the sea voyages are derived from a sample of 162 marine vessels using the energy efficiency design index for European ships running at 20 knots.     

Wireless charging in California: Range,recharge, and vehicle electrification

This research evaluated the potential for wireless dynamic charging (charging while moving) to address range and recharge issues of modern electric vehicles by considering travel to regional destinations in California. A 200-mile electric vehicle with a real range of 160 miles plus 40 miles reserve was assumed to be used by consumers in concert with static and dynamic charging as a strict substitute for gasoline vehicle travel. Different combinations of wireless charging power (20–120 kW) and vehicle range (100–300 miles) were evaluated. One of the results highlighted in the research indicated that travel between popular destinations could be accomplished with a 200-mile EV and a 40 kW dynamic wireless charging system at a cost of about $2.5 billion. System cost for a 200-mile EV could be reduced to less than $1 billion if wireless vehicle charging power levels were increased to 100 kW or greater. For vehicles consuming 138 kWh of dynamic energy per year on a 40 kW dynamic system, the capital cost of $2.5 billion plus yearly energy costs could be recouped over a 20-year period at an average cost to each vehicle owner of $512 per year at a volume of 300,000 vehicles or $168 per year at a volume of 1,000,000 vehicles. Cost comparisons of dynamic charging, increased battery capacity, and gasoline refueling were presented. Dynamic charging, coupled with strategic wayside static charging, was shown to be more cost effective to the consumer over a 10-year period than gasoline refueling at $2.50 or $4.00 per gallon. Notably, even at very low battery prices of $100 per kWh, the research showed that dynamic charging can be a more cost effective approach to extending range than increasing battery capacity.     

An empirical assessment of the feasibility of battery electric vehicles for day-to-day driving

Driven by sustainability objectives, Australia like many nations in the developed world, is considering the option of battery electric vehicles (BEVs) as an alternative to conventional internal combustion engine vehicles (ICEVs). In addition to issues of capital and running costs, crucial questions remain over the specifications of such vehicles, particularly the required driving range, recharge time, re-charging infrastructure, performance, and other attributes that will be of importance to consumers. With this in mind, this paper assesses (hypothetically) the extent to which current car travel needs could be met by BEVs for a sample of motorists in Sydney assuming a home-based charging set-up, which is likely to be the primary option for early adopters of the technology. The approach uses five weeks of driving data recorded by GPS technology and builds up home-home tours to assess the distances between (in effect) charging possibilities. An energy consumption model based on characteristics of the vehicle, and the speeds recorded by the GPS is adapted to determine the charge used, while a battery recharge function is used to determine charging times based on the current battery level. Among the most pertinent findings are that over the five weeks, (i) BEVs with a range as low as 60 km and a simple home-charge set-up would be able to accommodate well over 90% of day-to-day driving, (ii) however the incidence of tours requiring out-of-home charging increases markedly for vehicles below 24 kWh (170 km range), (iii) recharge time in itself has little impact on the feasibility of BEVs because vehicles spend the majority of their time parked and (iv) effective range can be dramatically impacted by both how a vehicle is driven and use of electrical auxiliaries, and (v) while unsuitable for long, high-speed journeys without some external re-charging options, BEVs appear particularly suited for the majority of day-to-day city driving in big cities where average journey speeds of 34 km/h are close to optimal in terms of maximising vehicle range. The paper has implications for both policy-makers and auto manufacturers in breaking down some of the (perceived) barriers to greater uptake of BEVs in the future.     

Is the provision of park-and-ride facilities at light rail stations an effective approach to reducing vehicle kilometers traveled in a US context?

Park-and-Ride (PNR) facilities are a commonly used means of making a transit system more widely available. However, given that a PNR passenger must drive for part of the trip, this approach to transit provision has an ambiguous influence on vehicle kilometers traveled (VKT). The impact of PNR on VKT is highly dependent of how PNR users would choose to travel if the PNR facilities were not available. Given that this issue has received little attention in a US context, we use the light rail system in Charlotte, North Carolina as a case study to examine the potential impact of PNR removal on VKT. Using a travel survey of PNR passengers, we estimate the VKT currently generated while driving to and from the rail stations and then estimate how VKT would change under various PNR removal scenarios that assume different behavioral responses. We find that, under the most realistic scenarios, PNR removal would lead the average PNR passenger to increase her driving by 8–15 VKT per round trip.     

Application of Lagrangian relaxation approach to α-reliable path finding in stochastic networks with correlated link travel times

This study investigates the important problem of determining a reliable path in a stochastic network with correlated link travel times. First, the distribution of path travel time is quantified by using trip records from GPS probe vehicles. Second, the spatial correlation of link travel time is explicitly considered by using a correlation coefficient matrix, which is incorporated into the α-reliable path problem by Cholesky decomposition. Third, the Lagrangian relaxation based framework is used to handle the α-reliable path problem, by which the intractable problem with a non-linear and non-additive structure can be decomposed into several easy-to-solve problems. Finally, the path-finding performance of this approach is tested on a real-world network. The results show that 15 iterations of calculation can yield a small relative gap between upper and lower bounds of the optimal solution and the average running time is about 5 s for most OD settings. The applicability of α-reliable path finding is validated by a case study.     

Forecasting short-term subway passenger flow under special events scenarios using multiscale radial basis function networks

Reliable and accurate short-term subway passenger flow prediction is important for passengers, transit operators, and public agencies. Traditional studies focus on regular demand forecasting and have inherent disadvantages in predicting passenger flows under special events scenarios. These special events may have a disruptive impact on public transportation systems, and should thus be given more attention for proactive management and timely information dissemination. This study proposes a novel multiscale radial basis function (MSRBF) network for forecasting the irregular fluctuation of subway passenger flows. This model is simplified using a matching pursuit orthogonal least squares algorithm through the selection of significant model terms to produce a parsimonious MSRBF model. Combined with transit smart card data, this approach not only exhibits superior predictive performance over prevailing computational intelligence methods for non-regular demand forecasting at least 30 min prior, but also leverages network knowledge to enhance prediction capability and pinpoint vulnerable subway stations for crowd control measures. Three empirical studies with special events in Beijing demonstrate that the proposed algorithm can effectively predict the emergence of passenger flow bursts.     

Using nonparametrics to specify a model to measure the value of travel time

Using a range of nonparametric methods, the paper examines the specification of a model to evaluate the willingness-to-pay (WTP) for travel time changes from binomial choice data from a simple time–cost trading experiment. The analysis favours a model with random WTP as the only source of randomness over a model with fixed WTP which is linear in time and cost and has an additive random error term. Results further indicate that the distribution of log WTP can be described as a sum of a linear index fixing the location of the log WTP distribution and an independent random variable representing unobserved heterogeneity. This formulation is useful for parametric modelling. The index indicates that the WTP varies systematically with income and other individual characteristics. The WTP varies also with the time difference presented in the experiment which is in contradiction of standard utility theory.     

Carbon emission from urban passenger transportation in Beijing

Urban passenger transport significantly contributes to global greenhouse gas emissions, especially in developing countries owing to the rapid motorization, thus making it an important target for carbon reduction. This article established a method to estimate and analyze carbon emission from urban passenger transport including cars, rail transit, taxis and buses. The scope of research was defined based on car registration area, transport types and modes, the stages of rail transit energy consumption. The data availability and gathering were fully illustrated. A city level emission model for the aforementioned four modes of passenger transport was formulated, and parameters including emission factor of electricity and fuel efficiency were tailored according to local situations such as energy structure and field survey. The results reveal that the emission from Beijing’s urban passenger transport in 2012 stood at 15 million tonnes of CO₂, of which 75.5% was from cars, whereas car trip sharing constitutes only 42.5% of the total residential trips. Bus travel, yielding 28.6 g CO₂, is the most efficient mode of transport under the current situations in terms of per passenger kilometer (PKM) emission, whereas car or taxi trips emit more than 5 times that of bus trips. Although a decrease trend appears, Beijing still has potential for further carbon reduction in passenger transport field in contrast to other cities in developed countries. Development of rail transit and further limitation on cars could assist in reducing 4.39 million tonnes CO₂ emission.     

Accuracy of reinforcement learning algorithms for predicting aircraft taxi-out times: A case-study of Tampa Bay departures

Taxi-out delay is a significant portion of the block time of a flight. Uncertainty in taxi-out times reduces predictability of arrival times at the destination. This in turn results in inefficient use of airline resources such as aircraft, crew, and ground personnel. Taxi-out time prediction is also a first step in enabling schedule modifications that would help mitigate congestion and reduce emissions. The dynamically changing operation at the airport makes it difficult to accurately predict taxi-out time. In this paper we investigate the accuracy of taxi out time prediction using a nonparametric reinforcement learning (RL) based method, set in the probabilistic framework of stochastic dynamic programming. A case-study of Tampa International Airport (TPA) shows that on an average, with 93.7% probability, on any given day, our predicted mean taxi-out time for any given quarter, matches the actual mean taxi-out time for the same quarter with a standard error of 1.5 min. Also, for individual flights, the taxi-out time of 81% of them were predicted accurately within a standard error of 2 min. The predictions were done 15 min before gate departure. Gate OUT, wheels OFF, wheels ON, and gate IN (OOOI) data available in the Aviation System Performance Metric (ASPM) database maintained by the Federal Aviation Administration (FAA) was used to model and analyze the problem. The prediction accuracy is high even without the use of detailed track data.     

Experienced travel time prediction for congested freeways

Travel time is an important performance measure for transportation systems, and dissemination of travel time information can help travelers make reliable travel decisions such as route choice or departure time. Since the traffic data collected in real time reflects the past or current conditions on the roadway, a predictive travel time methodology should be used to obtain the information to be disseminated. However, an important part of the literature either uses instantaneous travel time assumption, and sums the travel time of roadway segments at the starting time of the trip, or uses statistical forecasting algorithms to predict the future travel time. This study benefits from the available traffic flow fundamentals (e.g. shockwave analysis and bottleneck identification), and makes use of both historical and real time traffic information to provide travel time prediction. The methodological framework of this approach sequentially includes a bottleneck identification algorithm, clustering of traffic data in traffic regimes with similar characteristics, development of stochastic congestion maps for clustered data and an online congestion search algorithm, which combines historical data analysis and real-time data to predict experienced travel times at the starting time of the trip. The experimental results based on the loop detector data on Californian freeways indicate that the proposed method provides promising travel time predictions under varying traffic conditions.     

Introducing specific power to bicycles and motorcycles: Application to electric mobility

Electric bicycles and motorcycles have emerged as a possible way of improving the transportation system sustainability. This work’s aim was to quantify the energy consumption, the trip travel and the driving dynamics on specific routes in Lisbon, Portugal. Six electric and conventional bicycles and motorcycles were monitored, and a methodology to quantify the power required in each driving second was developed: Motorcycle and Bicycle Specific Power (MSP and BSP respectively). MSP and BSP allows characterizing energy consumption rates based on on-road data and to define real-world operation patterns (driving power distribution), as well as to benchmark the different propulsion technologies under the same baseline of specific power. For negative MSP and BSP modes, the conventional and the electric motorcycles and bicycles demonstrated a similar pattern. However, their behavior was different for positive modes, since electric technologies allow reaching higher power conditions. The methodology developed estimates accurately the energy consumption (average deviation of −0.19 ± 6.76% for motorcycles and of 1.41 ± 8.91% for bicycles). The MSP and BSP methodologies were tested in 2 Lisbon routes. For the electric motorcycle an increase in trip time (+36%) was observed when compared to the conventional one, while for the electric bicycle a 9.5% decrease was verified when compared to the conventional one. The Tank-to-Wheel (TTW) energy consumption for motorcycles was reduced by 61% when shifting to electric mobility, while a 30% Well-to-Wheel (WTW) reduction is obtained. For the electric bicycles, an additional energy use is quantified due to the battery electricity consumption.     

The effect of non-recreational transport cycling on use of other transport modes: A cross-sectional on-line survey

Accurate modelling of the health and environmental benefits of non-recreational transport cycling requires information about its effects on the use of other transport modes. Relevant research has not focussed on cycling for transport in a general context (as opposed to bikeshare), nor allowed for multi-modal trips. The influence of trip- and personal-characteristics on whether cycling replaces car-driving have yet to be considered. The present study aimed to address these research gaps. An on-line cross-sectional survey was completed by 1525 Australians who cycle for transport at least once per week. For the most recent trip completed (at least partly) by bicycle participants provided trip distance, and percentage travelled by car, public transport (PT), and walking. They also provided the percentage travelled by each mode for the same trip before taking up transport cycling; and a hypothetical future trip when riding is not possible. Compared to the same trip before, fifty percent of recent trips reduced car use, and around 1/3 eliminated a 100%-car trip. Reduced car use was significantly less likely for trips under 7.5 km, commuting, females, respondents under 55, and regular cyclists. Reduced car use was less likely for respondents who started riding because it is flexible, and more likely for those who started riding to avoid parking. Car-use was reduced by an average of 6.2 km per trip, and each bicycle-km cycled replaced 0.5 car-km. Participants report that since taking up cycling, even when they cannot use their bike, they use cars less and use PT more compared to before they took up cycling. Results suggest that previous studies underestimated the extent to which transport cycling replaces car travel, and highlights trip types and population groups to target with cycling promotion strategies. Information about the per-trip and per-bicycle-km replacement of car, PT and walking may be used for more accurate estimation of the benefits of transport cycling than has hitherto been possible.     

Aircraft trajectory forecasting using local functional regression in Sobolev space

This paper considers the problem of short to mid-term aircraft trajectory prediction, that is, the estimation of where an aircraft will be located over a 10–30 min time horizon. Such a problem is central in decision support tools, especially in conflict detection and resolution algorithms. It also appears when an air traffic controller observes traffic on the radar screen and tries to identify convergent aircraft, which may be in conflict in the near future. An innovative approach for aircraft trajectory prediction is presented in this paper. This approach is based on local linear functional regression that considers data preprocessing, localizing and solving linear regression using wavelet decomposition. This algorithm takes into account only past radar tracks, and does not use any physical or aeronautical parameters. This approach has been successfully applied to aircraft trajectories between several airports on the data set that is one year air traffic over France. The method is intrinsic and independent from airspace structure.     

Tracking daily travel; Assessing discrepancies between GPS-derived and self-reported travel patterns

Global Positioning Systems (GPS) technologies have been used in conjunction with traditional one- or two-day travel diaries to audit respondent reporting patterns, but we used GPS-based monitoring to conduct the first assessment to our knowledge of travel reporting patterns using a seven-day travel log instrument, which could reduce response burden and provide multiple-day, policy-relevant information for evaluation studies. We found substantial agreement between participant-reported daily travel patterns and GPS-derived patterns among 116 adult residents of a largely low-income and non-white transportation corridor in urbanized Los Angeles in 2011–2013. For all modes, the average difference between daily GPS- and log-derived trip counts was only about 0.39 trips and the average difference between daily GPS- and log-derived walking duration was about −11.8 min. We found that the probability that a day would be associated with agreement or discrepancies between these measurement tools varied by travel mode and participant socio-demographic characteristics. Future research is needed to investigate the potential and limitations of this and other self-report instruments for a larger sample and a wider range of population groups and travel patterns.     

The travel and environmental implications of shared autonomous vehicles,using agent-based model scenarios

Carsharing programs that operate as short-term vehicle rentals (often for one-way trips before ending the rental) like Car2Go and ZipCar have quickly expanded, with the number of US users doubling every 1–2 years over the past decade. Such programs seek to shift personal transportation choices from an owned asset to a service used on demand. The advent of autonomous or fully self-driving vehicles will address many current carsharing barriers, including users’ travel to access available vehicles.This work describes the design of an agent-based model for shared autonomous vehicle (SAV) operations, the results of many case-study applications using this model, and the estimated environmental benefits of such settings, versus conventional vehicle ownership and use. The model operates by generating trips throughout a grid-based urban area, with each trip assigned an origin, destination and departure time, to mimic realistic travel profiles. A preliminary model run estimates the SAV fleet size required to reasonably service all trips, also using a variety of vehicle relocation strategies that seek to minimize future traveler wait times. Next, the model is run over one-hundred days, with driverless vehicles ferrying travelers from one destination to the next. During each 5-min interval, some unused SAVs relocate, attempting to shorten wait times for next-period travelers.Case studies vary trip generation rates, trip distribution patterns, network congestion levels, service area size, vehicle relocation strategies, and fleet size. Preliminary results indicate that each SAV can replace around eleven conventional vehicles, but adds up to 10% more travel distance than comparable non-SAV trips, resulting in overall beneficial emissions impacts, once fleet-efficiency changes and embodied versus in-use emissions are assessed.     

The impact of road grade on carbon dioxide (CO2) emission of a passenger vehicle in real-world driving

To accurately estimate real-world vehicle emission at 1 Hz the road grade for each second of data must be quantified. Failure to incorporate road grade can result in over or underestimation of a vehicle’s power output and hence cause inaccuracy in the instantaneous emission estimate. This study proposes a simple LiDAR (Light Detection And Ranging) – GIS (Geographic Information System) road grade estimation methodology, using GIS software to interpolate the elevation for each second of data from a Digital Terrain Map (DTM). On-road carbon dioxide (CO₂) emissions from a passenger car were recorded by Portable Emission Measurement System (PEMS) over 48 test laps through an urban-traffic network. The test lap was divided into 8 sections for micro-scale analysis. The PHEM instantaneous emission model (Hausberger, 2003) was employed to estimate the total CO₂ emission through each lap and section. The addition of the LiDAR-GIS road grade to the PHEM modelling improved the accuracy of the CO₂ emission predictions. The average PHEM estimate (with road grade) of the PEMS measured section total CO₂ emission (n = 288) was 93%, with 90% of the PHEM estimates between 80% and 110% of the PEMS recorded value. The research suggests that instantaneous emission modelling with LiDAR-GIS calculated road grade is a viable method for generating accurate real-world micro-scale CO₂ emission estimates. The sensitivity of the CO₂ emission predictions to road grade was also tested by lessening and exaggerating the gradient profiles, and demonstrates that assuming a flat profile could cause considerable error in real-world CO₂ emission estimation.