A stochastic model for the integrated optimization on metro timetable and speed profile with uncertain train mass

The integrated timetable and speed profile optimization model has recently attracted more attention because of its good achievements on energy conservation in metro systems. However, most previous studies often ignore the spatial and temporal uncertainties of train mass, and the variabilities of tractive force, braking force and basic running resistance on energy consumption in order to simplify the model formulation and solution algorithm. In this paper, we develop an integrated metro timetable and speed profile optimization model to minimize the total tractive energy consumption, where these real-world operating conditions are explicitly considered in the model formulation and solution algorithm. Firstly, we formulate a two-phase stochastic programming model to determine the timetable and speed profile. Given the speed profile, the first phase determines the timetable by scheduling the arrival and departure times for each station, and the second phase determines the speed profile for each inter-station with the scheduled arrival and departure times. Secondly, we design a simulation-based genetic algorithm procedure incorporated with the optimal train control algorithm to find the optimal solution. Finally, we present a simple example and a real-world example based on the operation data from the Beijing Metro Yizhuang Line in Beijing, China. The results of the real-world example show that, during peak hours, off-peak hours and night hours, the total tractive energy consumptions can be reduced by: (1) 10.66%, 9.94% and 9.13% in comparison with the current timetable and speed profile; and (2) 3.35%, 3.12% and 3.04% in comparison with the deterministic model.     

A hierarchical line planning approach for a large-scale high speed rail network: The China case

Planning a set of train lines in a large-scale high speed rail (HSR) network is typically influenced by issues of longer travel distance, high transport demand, track capacity constraints, and a non-periodic timetable. In this paper, we describe an integrated hierarchical approach to determine line plans by defining the stations and trains according to two classes. Based on a bi-level programming model, heuristics are developed for two consecutive stages corresponding to each classification. The approach determines day-period based train line frequencies as well as a combination of various stopping patterns for a mix of fast trunk line services between major stations and a variety of slower body lines that offer service to intermediate stations, so as to satisfy the predicted passenger transport demand. Efficiencies of the line plans described herein concern passenger travel times, train capacity occupancy, and the number of transfers. Moreover, our heuristics allow for combining many additional conflicting demand–supply factors to design a line plan with predominantly cost-oriented and/or customer-oriented objectives. A range of scenarios are developed to generate three line plans for a real-world example of the HSR network in China using a decision support system. The performance of potential train schedules is evaluated to further examine the feasibility of the obtained line plans through graphical timetables.     

A bi-level model for single-line rail timetable design with consideration of demand and capacity

This paper proposes a bi-level model to solve the timetable design problem for an urban rail line. The upper level model aims at determining the headways between trains to minimize total passenger cost, which includes not only the usual perceived travel time cost, but also penalties during travel. With the headways given by the upper level model, passengers’ arrival times at their origin stops are determined by the lower level model, in which the cost-minimizing behavior of each passenger is taken into account. To make the model more realistic, explicit capacity constraints of individual trains are considered. With these constraints, passengers cannot board a full train, but wait in queues for the next coming train. A two-stage genetic algorithm incorporating the method of successive averages is introduced to solve the bi-level model. Two hypothetical examples and a real world case are employed to evaluate the effectiveness of the proposed bi-level model and algorithm. Results show that the bi-level model performs well in reducing total passenger cost, especially in reducing waiting time cost and penalties. And the section loading-rates of trains in the optimized timetable are more balanced than the even-headway timetable. The sensitivity analyses show that passenger’s desired arrival time interval at destination and crowding penalty factor have a high influence on the optimal solution. And with the dispersing of passengers' desired arrival time intervals or the increase of crowding penalty factor, the section loading-rates of trains become more balanced.     

Energy-efficient metro train rescheduling with uncertain time-variant passenger demands: An approximate dynamic programming approach

In a heavily congested metro line, unexpected disturbances often occur to cause the delay of the traveling passengers, infeasibility of the current timetable and reduction of the operational efficiency. Due to the uncertain and dynamic characteristics of passenger demands, the commonly used method to recover from disturbances in practice is to change the timetable and rolling stock manually based on the experiences and professional judgements. In this paper, we develop a stochastic programming model for metro train rescheduling problem in order to jointly reduce the time delay of affected passengers, their total traveling time and operational costs of trains. To capture the complexity of passenger traveling characteristics, the arriving ratio of passengers at each station is modeled as a non-homogeneous poisson distribution, in which the intensity function is treated as time-varying origin-to-destination passenger demand matrices. By considering the number of on-board passengers, the total energy usage is modeled as the difference between the tractive energy consumption and the regenerative energy. Then, we design an approximate dynamic programming based algorithm to solve the proposed model, which can obtain a high-quality solution in a short time. Finally, numerical examples with real-world data sets are implemented to verify the effectiveness and robustness of the proposed approaches.     

An activity-based approach for scheduling multimodal transit services

This paper proposes a new activity-based transit assignment model for investigating the scheduling (or timetabling) problem of transit services in multi-modal transit networks. The proposed model can be used to generate the short-term and long-term timetables of multimodal transit lines for transit operations and service planning purposes. The interaction between transit timetables and passenger activity-travel scheduling behaviors is captured by the proposed model, as the activity and travel choices of transit passengers are considered explicitly in terms of departure time choice, activity/trip chain choices, activity duration choice, transit line and mode choices. A heuristic solution algorithm which combines the Hooke–Jeeves method and an iterative supply–demand equilibrium approach is developed to solve the proposed model. Two numerical examples are presented to illustrate the differences between the activity-based approach and the traditional trip-based method, together with comparison on the effects of optimal timetables with even and uneven headways. It is shown that the passenger travel scheduling pattern derived from the activity-based approach is significantly different from that obtained by the trip-based method, and that a demand-sensitive (with uneven headway) timetable is more efficient than an even-headway timetable.     

Multiple-phase train trajectory optimization with signalling and operational constraints

The train trajectory optimization problem aims at finding the optimal speed profiles and control regimes for a safe, punctual, comfortable, and energy-efficient train operation. This paper studies the train trajectory optimization problem with consideration of general operational constraints as well as signalling constraints. Operational constraints refer to time and speed restrictions from the actual timetable, while signalling constraints refer to the influences of signal aspects and automatic train protection on train operation. A railway timetable provides each train with a train path envelope, which consists of a set of positions on the route with a specified target time and speed point or window. The train trajectory optimization problem is formulated as a multiple-phase optimal control model and solved by a pseudospectral method. This model is able to capture varying gradients and speed limits, as well as time and speed constraints from the train path envelope. Train trajectory calculation methods under delay and no-delay situations are discussed. When the train follows the planned timetable, the train trajectory calculation aims at minimizing energy consumption, whereas in the case of delays the train trajectory is re-calculated to track the possibly adjusted timetable with the aim of minimizing delays as well as energy consumption. Moreover, the train operation could be affected by yellow or red signals, which is taken into account in the train speed regulation. For this purpose, two optimization policies are developed with either limited or full information of the train ahead. A local signal response policy ensures that the train makes correct and quick responses to different signalling aspects, while a global green wave policy aims at avoiding yellow signals and thus proceed with all green signals. The method is applied in a case study of two successive trains running on a corridor with various delays showing the benefit of accurate predictive information of the leading train on energy consumption and train delay of the following train.     

Train scheduling for minimizing passenger waiting time with time-dependent demand and skip-stop patterns: Nonlinear integer programming models with linear constraints

This paper focuses on how to minimize the total passenger waiting time at stations by computing and adjusting train timetables for a rail corridor with given time-varying origin-to-destination passenger demand matrices. Given predetermined train skip-stop patterns, a unified quadratic integer programming model with linear constraints is developed to jointly synchronize effective passenger loading time windows and train arrival and departure times at each station. A set of quadratic and quasi-quadratic objective functions are proposed to precisely formulate the total waiting time under both minute-dependent demand and hour-dependent demand volumes from different origin–destination pairs. We construct mathematically rigorous and algorithmically tractable nonlinear mixed integer programming models for both real-time scheduling and medium-term planning applications. The proposed models are implemented using general purpose high-level optimization solvers, and the model effectiveness is further examined through numerical experiments of real-world rail train timetabling test cases.     

Passenger centric train timetabling problem

The aim of this paper is to analyze and to improve the current planning process of the passenger railway service in light of the recent railway market changes. In order to do so, we introduce the Passenger Centric Train Timetabling Problem. The originality of our approach is that we account for the passenger satisfaction in the design of the timetable. We consider both types of timetable(s): cyclic and non-cyclic. The problem is modeled as a Mixed Integer Linear Programming (MILP) problem with an objective of maximizing the train operating company’s profit while maintaining ε level of passenger satisfaction. The model does not take into account conflicts between trains and does not adjust dwell times at stopping stations among the lines. By solving the model for various values of ε, the approximated Pareto frontier is constructed. The analysis, based on an experiment using realistic data, shows that an improvement of passenger satisfaction while maintaining a low profit loss for the railway company can be achieved. A sensitivity analysis on passenger congestion illustrates a quantitative evidence that the non-cyclic timetables can account better for high density demand in comparison to cyclic timetables.     

Passenger oriented railway disruption management by adapting timetables and rolling stock schedules

In passenger railway operations, unforeseen events require railway operators to adjust their timetable and their resource schedules. The passengers will also adapt their routes to their destinations. When determining the new timetable and rolling stock schedule, the railway operator has to take passenger behavior into account. The operator should increase the capacity of trains for which the operator expects more demand than on a regular day. Furthermore, the operator could increase the frequency of the trains that serve stations with an additional demand.This paper describes a real-time disruption management approach which integrates the rescheduling of the rolling stock and the timetable by taking the changed passenger demand into account. The timetable decisions are limited to additional stops of trains at stations at which they normally would not call. Several variants of the approach are suggested, with the difference in how to determine which additional stops should be executed.Real-time rescheduling requires fast solutions. Therefore a heuristic approach is used. We demonstrate the performance of the several variants of our algorithm on realistic instances of Netherlands Railways, the major railway operator in the Netherlands.     

Timetable optimization models and methods for minimizing passenger waiting time at public transit terminals

This paper focuses on developing mathematical optimization models for the train timetabling problem with respect to dynamic travel demand and capacity constraints. The train scheduling models presented in this paper aim to minimize passenger waiting times at public transit terminals. Linear and non-linear formulations of the problem are presented. The non-linear formulation is then improved through introducing service frequency variables. Heuristic rules are suggested and embedded in the improved non-linear formulation to reduce the computational time effort needed to find the upper bound. The effectiveness of the proposed train timetabling models is illustrated through the application to an underground urban rail line in the city of Tehran. The results demonstrate the effectiveness of the proposed demand-oriented train timetabling models, in terms of decreasing passenger waiting times. Compared to the baseline and regular timetables, total waiting time is reduced by 6.36% and 10.55% respectively, through the proposed mathematical optimization models.     

Optimizing train stopping patterns and schedules for high-speed passenger rail corridors

High-speed railway (HSR) systems have been developing rapidly in China and various other countries throughout the past decade; as a result, the question of how to efficiently operate such large-scale systems is posing a new challenge to the railway industry. A high-quality train timetable should take full advantage of the system’s capacity to meet transportation demands. This paper presents a mathematical model for optimizing a train timetable for an HSR system. We propose an innovative methodology using a column-generation-based heuristic algorithm to simultaneously account for both passenger service demands and train scheduling. First, we transform a mathematical model into a simple linear programming problem using a Lagrangian relaxation method. Second, we search for the optimal solution by updating the restricted master problem (RMP) and the sub-problems in an iterative process using the column-generation-based algorithm. Finally, we consider the Beijing–Shanghai HSR line as a real-world application of the methodology; the results show that the optimization model and algorithm can improve the defined profit function by approximately 30% and increase the line capacity by approximately 27%. This methodology has the potential to improve the service level and capacity of HSR lines with no additional high-cost capital investment (e.g., the addition of new tracks, bridges and tunnels on the mainline and/or at stations).     

Reducing the passenger travel time in practice by the automated construction of a robust railway timetable

Automatically generating timetables has been an active research area for some time, but the application of this research in practice has been limited. We believe this is due to two reasons. Firstly, some of the models in the literature impose artificial upper bounds on time supplements. This causes a high risk of generating infeasibilities. Secondly, some models that leave out these upper bounds often generate solutions that contain some very large time supplements because these supplements are not penalised in the objective function. The reason is that these objective functions often do not completely correspond to the true goal of a timetable. We solve both problems by minimising our objective function: total passenger travel time, expected in practice. Since this function evaluates and indirectly steers all time related decision variables in the system, we do not need to further restrict the ranges of any of these variables. As a result, our model does not suffer from infeasibilities generated by such artificial upper bounds for supplements.Furthermore, some measures are taken to significantly speed up the solver times of our model. These combined features result in our model being solved more quickly than previous models. As a result, our method can be used for timetabling in practice. We demonstrate our claims by optimising, in about two hours only, the timetable of all 196 hourly passenger trains in Belgium. Assuming primary delay-distributions with an average of 2% on the minima of each activity, the optimised timetable reduces expected passenger time in practice, as evaluated on the macroscopic level, by 3.8% during peak hours. This paper demonstrates that we added two important missing steps to make cyclic timetabling for passengers really useable in practice: (i) the addition of the objective function of expected passenger time in practice and (ii) the reduction of computation time by addition of well chosen additional constraints.     

Optimal timetable development for community shuttle network with metro stations

This paper investigates an issue for optimizing synchronized timetable for community shuttles linked with metro service. Considering a passenger arrival distribution, the problem is formulated to optimize timetables for multiple community shuttle routes, with the objective of minimizing passenger’s schedule delay cost and transfer cost. Two constraints, i.e., vehicle capacity and fleet size, are modeled in this paper. The first constraint is treated as soft, and the latter one is handled by a proposed timetable generating method. Two algorithms are employed to solve the problem, i.e., a genetic algorithm (GA) and a Frank–Wolfe algorithm combined with a heuristic algorithm of shifting departure times (FW-SDT). FW-SDT is an algorithm specially designed for this problem. The simulated and real-life examples confirm the feasibility of the two algorithms, and demonstrate that FW-SDT outperforms GA in both accuracy and effectiveness.     

长途跨线高速列车直达与中转选择问题

我国快速客运网基本形成,长途跨线列车直达与中转选择对于高速列车开行方案设计至关重要。为提升长途跨线高速列车开行效益和服务品质,按长途跨线列车直达与中转方式对比的思路,以旅客出行需求、基础设施能力、移动设备能力等多方面因素对长途跨线列车开行方式的影响为约束条件,研究长途跨线列车直达与中转选择模型及求解方法。选取2025年15个长途跨线起讫点为对象进行案例研究,提出D站—E站、F站—D站等9个起迄点之间开行长途跨线直达列车的建议方案,研究表明直达与中转换乘选择模型能够解决长途跨线列车开行方案编制问题。     

Why railway passengers are more polluting in the peak than in the off-peak; environmental effects of capacity management by railway companies under conditions of fluctuating demand

Given the difference between peak and off-peak occupancy rates in public transport, the average emission per traveller kilometre is lower in the peak than during the off-peak period. However, in this paper it is argued that it is much more fruitful to analyse environmental effects in marginal than in average terms. The issue appears to depend on capacity management policies of public transport suppliers that are facing increases in demand both during the peak and off-peak period. A detailed analysis of capacity management of the Netherlands Railways reveals that the off-peak capacity supply is mainly dictated by the demand levels during the peak period. Topics that receive attention in the analysis are the effects of frequency increases and size of vehicle increases on environmental effects. Also environmental economies of vehicle size are taken into account in the analysis. The main conclusion is that the marginal environmental burden during the peak is much higher than is usually thought, whereas it is almost zero at the off-peak period. Thus, one arrives at a pattern that is entirely reversed compared with the average environmental burden: peak passengers are more polluting than off-peak passengers. The conclusion is that policies based on average environmental performances would lead to misleading conclusions.     

Inter-city bus routing and timetable setting under stochastic demands

Vehicle fleet routing and timetable setting are essential to the enhancement of an inter-city bus carrier’s operating cost, profit, level of service and competitiveness in the market. In past research the average passenger demand has usually served as input in the production of the final fleet routes and timetables, meaning that stochastic disturbances arising from variations in daily passenger demand in actual operations are neglected. To incorporate the stochastic disturbances of daily passenger demands that occur in actual operations, in this research, we established a stochastic-demand scheduling model. We applied a simulation technique, coupled with link-based and path-based routing strategies, to develop two heuristic algorithms to solve the model. To evaluate the performance of the proposed model and the two solution algorithms, we developed an evaluation method. The test results, regarding a major Taiwan inter-city bus operation, were good, showing that the model and the solution algorithms could be useful in practice.     

Itinerary choice and advance ticket booking for high-speed-railway network services

This paper formulates and examines the passenger flow assignment (itinerary choice) problem in high-speed railway (HSR) systems with multiple-class users and multiple-class seats, given the train schedules and time-varying travel demand. In particular, we take into account advance booking cost of travelers in the itinerary choice problem. Rather than a direct approach to model advance booking cost with an explicit cost function, we consider advance booking cost endogenously, which is determined as a part of the passenger choice equilibrium. We show that this equilibrium problem can be formulated as a linear programming (LP) model based on a three-dimension network representation of time, space, and seat class. At the equilibrium solution, a set of Lagrange multipliers for the LP model are obtained, which are associated with the rigid in-train passenger capacity constraints (limited numbers of seats). We found that the sum of the Lagrange multipliers along a path in the three-dimension network reflects the advance booking cost of tickets (due to advance/early booking to guarantee availability) perceived by the passengers. Numerical examples are presented to demonstrate and illustrate the proposed model for the passenger assignment problem.     

Multi-objective re-synchronizing of bus timetable: Model,complexity and solution

This work is originally motived by the re-planning of a bus network timetable. The existing timetable with even headways for the network is generated using line by line timetabling approach without considering the interactions between lines. Decision-makers (i.e., schedulers) intend to synchronize vehicle timetable of lines at transfer nodes to facilitate passenger transfers while being concerned with the impacts of re-designed timetable on the regularity of existing timetable and the accustomed trip plans of passengers. Regarding this situation, we investigate a multi-objective re-synchronizing of bus timetable (MSBT) problem, which is characterized by headway-sensitive passenger demand, uneven headways, service regularity, flexible synchronization and involvement of existing bus timetable. A multi-objective optimization model for the MSBT is proposed to make a trade-off between the total number of passengers benefited by smooth transfers and the maximal deviation from the departure times of the existing timetable. By clarifying the mathematical properties and solution space of the model, we prove that the MSBT problem is NP-hard, and its Pareto-optimal front is non-convex. Therefore, we design a non-dominated sorting genetic (NSGA-II) based algorithm to solve this problem. Numerical experiments show that the designed algorithm, compared with enumeration method, can generate high-quality Pareto solutions within reasonable times. We also find that the timetable allowing larger flexibility of headways can obtain more and better Pareto-optimal solutions, which can provide decision-makers more choice.     

An integrated metro operation optimization to minimize energy consumption

Energy efficient techniques are receiving increasing attention because of rising energy prices and environmental concerns. Railways, along with other transport modes, are facing increasing pressure to provide more intelligent and efficient power management strategies.This paper presents an integrated optimization method for metro operation to minimize whole day substation energy consumption by calculating the most appropriate train trajectory (driving speed profile) and timetable configuration. A train trajectory optimization algorithm and timetable optimization algorithm are developed specifically for the study. The train operation performance is affected by a number of different systems that are closely interlinked. Therefore, an integrated optimization process is introduced to obtain the optimal results accurately and efficiently.The results show that, by using the optimal train trajectory and timetable, the substation energy consumption and load can be significantly reduced, thereby improving the system performance and stability. This also has the effect of reducing substation investment costs for new metros.     

Hybrid cyclicity: Combining the benefits of cyclic and non-cyclic timetables

We propose a new type of timetable that would combine both the regularity of the cyclic timetables and the flexibility of the non-cyclic ones. In order to do so, several combinations of the two timetables are considered. The regularity is incorporated in their design and the flexibility is evaluated using the passenger satisfaction (in monetary units). Each of the tested timetables is constructed using the Passenger Centric Train Timetabling Problem (PCTTP), that is solved using a simulated annealing heuristic. Note that the PCTTP, unlike the traditional Train Timetabling Problem (TTP), does not take into account the conflicts among trains. The aim of the PCTTP is to design such timetables that the passengers’ satisfaction is maximized and it remains the aim of the TTP to remove any potential conflicts. The performance of each of the considered timetables is assessed on the real network of Israeli Railways. The results of the case study show that our proposed hybrid cyclic timetable can provide the benefits of the cyclic and the non-cyclic timetable simultaneously. This timetable consists of 75% of cyclic trains (securing the regularity of the service) and of 25% of non-cyclic trains (deployed as supplementary trains during the peak hours and capturing the demand fluctuation). The level of the passenger satisfaction of the hybrid cyclic timetable is similar to the level of the non-cyclic one, which has about 18.5% of improvement as compared to the purely cyclic one.