Designing personal rapid transit (PRT) networks

This paper presents a heuristic method for designing a PRT network. Because the PRT system operating characteristics and performance measures differ widely from those of conventional transit technologies, an algorithm for the PRT network design problem (NDP) is derived by using concepts from some current NDP algorithms. We minimize the sum of passenger travel time cost, construction cost, vehicle cost and operational costs, subject to an available budget of guideway, a maximum number of vehicles and given link capacities. Starting with a well-connected initial network, the algorithm eliminates and adds links iteratively as it searches for a near-optimal solution. If this solution satisfies the budget constraint, it is considered to be acceptable. Otherwise, additional links are deleted until a feasible near-optimal solution is obtained. The link elimination phase of the algorithm only considers half of the links at a time which greatly decreases computing time. None of the links in an acceptable solution will be overloaded.     

The rider's impression of a simulated trip by PRT

The potential user interest in PRT's and the conditions for their use were studied. As users are unable to express certain opinions about technology they don't know, assessment studies must be close to real life. One way to getting close to reality is through studies in Virtual Reality (VR). Passenger encounters with PRT was studied by in-depth interviews directly after a VR-simulated trip in a real vehicle. The aims of using VR-technology seems to have been achieved. Many of the subjects had the impression of a real trip, some of them also of having travelled high above ground. All subjects were in favour of PRT and thought they would utilize it. They had confidence in the automatic control devices, although they wanted more information and better design of the safety system. The greatest conflict was the encroachment on the cityscape. Many of the subjects did not accept the impact of the guideways on the old city environment. However these views contrast with the desired accessibility.     

An intersection control strategy for a short‐headway P.R.T. network

Much PRT development and research is currently being undertaken assuming quasi‐synchronous longitudinal control of guideway vehicles. This method of control has the characteristic that intersection performance has a substantial influence on the efficiency of trip demand processing. An algorithm for the control of a PRT intersection is discussed here, which would appear to have significant advantages over all other known existing stratagems. The stratagem is not only efficient but its flexibility facilitates tailoring to diverse local conditions; furthermore, the algorithm does not require intractable computations or excessive computer memory requirements. The algorithm is described and simulation results are presented. A comparative study is also made between this algorithm and its fore‐runner.     

Cybertran: A systems analysis solution to the high cost and low passenger appeal of conventional rail transportation systems

A new transportation system is described. CyberTran is a steel wheel on rail system designed to travel on elevated guideways, utilizing large numbers of 6 to 20 passenger automated vehicles weighing less than 10,000 pounds. The benefits from these light weight vehicles include dramatically reduced system cost and increased passenger appeal. The system described has been prototyped and tested at the Idaho National Engineering and Environmental Laboratory, a U. S. Department of Energy Research and Development Laboratory.     

Isolated intersection control for various levels of vehicle technology: Conventional,connected, and automated vehicles

Connected vehicle technology can be beneficial for traffic operations at intersections. The information provided by cars equipped with this technology can be used to design a more efficient signal control strategy. Moreover, it can be possible to control the trajectory of automated vehicles with a centralized controller. This paper builds on a previous signal control algorithm developed for connected vehicles in a simple, single intersection. It improves the previous work by (1) integrating three different stages of technology development; (2) developing a heuristics to switch the signal controls depending on the stage of technology; (3) increasing the computational efficiency with a branch and bound solution method; (4) incorporating trajectory design for automated vehicles; (5) using a Kalman filter to reduce the impact of measurement errors on the final solution. Three categories of vehicles are considered in this paper to represent different stages of this technology: conventional vehicles, connected but non-automated vehicles (connected vehicles), and automated vehicles. The proposed algorithm finds the optimal departure sequence to minimize the total delay based on position information. Within each departure sequence, the algorithm finds the optimal trajectory of automated vehicles that reduces total delay. The optimal departure sequence and trajectories are obtained by a branch and bound method, which shows the potential of generalizing this algorithm to a complex intersection.Simulations are conducted for different total flows, demand ratios and penetration rates of each technology stage (i.e. proportion of each category of vehicles). This algorithm is compared to an actuated signal control algorithm to evaluate its performance. The simulation results show an evident decrease in the total number of stops and delay when using the connected vehicle algorithm for the tested scenarios with information level of as low as 50%. Robustness of this algorithm to different input parameters and measurement noises are also evaluated. Results show that the algorithm is more sensitive to the arrival pattern in high flow scenarios. Results also show that the algorithm works well with the measurement noises. Finally, the results are used to develop a heuristic to switch between the different control algorithms, according to the total demand and penetration rate of each technology.     

Determining the effects of scheduling on automated automobile guideway utilization

This paper develops an analytic approach for measuring the effect of vehicle scheduling and of metering methods required to balance entrance rates among stations on lane capacity utilization of automated automobile guideways. The scheduling process at each entrance is represented by a probabilistic model which generates a system of nonlinear equations. The solution of this system yields the maximum steady state input rates at the entrances to the guideway system. The method developed is applicable to network configurations in which a small number of merges must be scheduled for each vehicle before it enters the guideway. It is demonstrated by application to a corridor guideway serving a major activity center during peak inbound demand, and also it is shown how the approach may be extended to more complex networks.     

Safe design of personal rapid transit systems

The safety of personal rapid transit systems involves careful attention to all features of the design such as the use of a hierarchy of fault-tolerant redundant control systems, bi-stable fail-safe switching, back-up power supplies, vehicle and passenger protection, and attention to the interaction of people with the system. Safety, together with reliability and adequate capacity, must be achieved while making the system economically attractive, hence techniques to achieve these goals at minimum life-cycle cost are primary in PRT design. Building on theory of safe, reliable, environmentally acceptable, and cost-effective design of PRT systems developed during the 1970′s, in 1981 the author and his colleagues initiated design of a new PRT system, now called Taxi 2000. The paper describes the relevant features of Taxi 2000 and principles of safe design incorporated into it.     

Distributed algorithm for empty vehicles management in personal rapid transit (PRT) network

In this paper, an original heuristic algorithm of empty vehicles management in personal rapid transit network is presented. The algorithm is used for the delivery of empty vehicles for waiting passengers, for balancing the distribution of empty vehicles within the network, and for providing an empty space for vehicles approaching a station. Each of these tasks involves a decision on the trip that has to be done by a selected empty vehicle from its actual location to some determined destination. The decisions are based on a multi‐parameter function involving a set of factors and thresholds. An important feature of the algorithm is that it does not use any central database of passenger input (demand) and locations of free vehicles. Instead, it is based on the local exchange of data between stations: on their states and on the vehicles they expect. Therefore, it seems well‐tailored for a distributed implementation. The algorithm is uniform, meaning that the same basic procedure is used for multiple tasks using a task‐specific set of parameters. Copyright © 2016 John Wiley & Sons, Ltd.     

A decision support approach to the computerisation of some operational decision problems in community transport

Community Transport (CT) in the UK operates a diverse range of services, and organisations are computerising management and operational functions. This paper describes the approach which has been taken to computerising four operational decision making functions.

The paper considers models of human decision making and problem solving, with particular reference to an information processing view of cognitive activity and to perception and memory. The design of decision support systems is also discussed.

Four decision problems are considered. For each, the paper considers how people tackle the problem, how computers can be used to tackle it and the approach which has been adopted.

For allocating trips to vehicles using a diary, the approach has been to provide a representation on screen of a manual diary. For vehicle brokerage, vehicles are presented to the operator allocating a booking in an order based on the Sequence Number, an index of how ‘difficult to book’ a vehicle is, and the distance of the vehicle's base from the start point of the trip. For the sorting of passenger pick‐ups into an efficient tour, traditional solutions to the travelling salesperson problem have been rejected in favour of a solution using spacefilling curves. Finally, for allocating dial‐a‐ride passenger trips to vehicle shifts an approach has been chosen which presents the operator with appropriate information rather than attempting to automate the scheduling.

The paper concludes that the approach to the diary has been successful and accepted by operators, although the similar approach to the dial‐a‐ride scheduling has not, as the system has not yet been able to replace manual scheduling aids. The facility to order passenger pick‐ups is little used by operators. Finally, it is suggested that the vehicle brokerage problem may be an appropriate use of fuzzy logic.     

Thermal deformations in typical maglev guideway structures

Thermal gradients and related deformations induced in elevated Maglev guideways by temperature variations in their environment have been predicted by a mathematical model. The deflections induced by thermal gradients in typical guideways are found to exceed specified limits for acceptable operation of an electromagnetic suspension system vehicle unless measures are taken to reduce the thermal gradients and related deflections by suitable treatment of the guideway surfaces.     

Methodology for kinematic cycle characterization of vehicles with fixed routes in urban areas

This paper analyses the driving cycles of a fleet of vehicles with predetermined urban itineraries. Most driving cycles developed for such type of vehicles do not properly address variability among itineraries. Here we develop a polygonal driving cycle that assesses each group of related routes, based on microscopic parameters. It measures the kinematic cycles of the routes traveled by the vehicle fleet, segments cycles into micro-cycles, and characterizes their properties, groups them into clusters with homogeneous kinematic characteristics within their specific micro-cycles, and constructs a standard cycle for each cluster. The process is used to study public bus operations in Madrid.     

A vehicle manufacturer's view of the potential for electric automobiles

In the search for low pollution, low noise, multi‐fuel vehicles capable of adapting to almost any source of energy available, the electric vehicle continues to be suggested in a variety of forms. In the long‐term view, working on the hypothesis that either solar or nuclear energy can provide the only inexhaustible energy supplies, electric propulsion will undoubtedly have a significant role to perform, and it could provide a useful means of transport in the transition period out of the current dependency on crude oil.

There are, however, some grave question marks hanging over the viability of electric vehicles on a large scale both in terms of their energy efficiency and practicality. This paper describes the state of development and discusses the future prospects.     

Combining Intermodal Transport With Electric Vehicles: Towards More Sustainable Solutions

Abstract

This paper analyses the feasibility of incorporating electric or hybrid vehicles in intermodal transport for the transportation of containers in the pre- and post haulage (PPH) operation. In Europe, the intermodal transport market is being strongly supported, as it is seen as one of the keystones of a sustainable mobility system policy. The introduction of environmentally friendly electric/hybrid vehicles for the pre- and post haulage operation would mean a further enhancement leading to a more complete ecological intermodal transport chain. PPH operations are usually no longer than 30 km, and, hence, could possibly be handled by electric or hybrid vehicles.

Hybrid electric vehicles (HEV) combine electric and other drive systems, such as internal combustion engines, gas turbines and fuel cells. Hybrid electric vehicles merge the zero pollution and high efficiency benefits of electric traction with the high fuel energy density benefits of an energy source or thermal engine. The use of electrically driven vehicles for goods distribution has already been successfully proven in international demonstration projects, such as ELCIDIS. Transport of intermodal units (such as ISO containers), however, requires electric/hybrid heavy-duty goods vehicles, which are not readily available on the market, but for which the technology exists.

Different possibilities are assessed as to their technical, financial, organizational and environmental feasibility and suitability. This analysis is based on a typical mission for pre-and post haulage operations, such as type of trips, distance, frequency, urban/suburban, etc.     

Assessing the viability of enabling a round-trip carsharing system to accept one-way trips: Application to Logan Airport in Boston

Although one-way carsharing is suitable for more trip purposes than round-trip carsharing, many companies in the world operate only in the round-trip market. In this paper, we develop a method that optimizes the design of a one-way carsharing service between selected origin–destination pairs of an existing round-trip carsharing system. The goal is to supplement the established round-trip services with new one-way services and increase profitability. We develop an integer programming model to select the set of new one-way services and apply it to the case study of Boston, USA, considering only trips with one endpoint at a station in the round-trip Zipcar service network and the other endpoint at Logan Airport. The airport was chosen as a necessary endpoint for a one-way service because it is a very significant trip generator for which the round-trip carsharing is not suitable. Results show that these supplemental one-way services could be profitable. Enabling relocation operations between the existing round-trip stations and the Airport greatly improves the demand effectively satisfied, leads to an acceptable airport station size (in terms of the number of parking spots required), and is profitable; however, these benefits come with the need to manage relocation operations.     

Energy use in personal rapid transit building and running personal rapid transit in Sweden

Travel by a Personal Rapid Transit (PRT) system may be much more energy efficient than travel by conventional road transport. The difference could be so large that the energy invested in the PRT infrastructure may be equivalent to the fuel that is saved by previous car and bus riders in less than five years. We analyzed the propulsion energy requirements of a PRT system and made a first-order calculation of the energy cost of the infrastructure and maintenance. Operation of the PRT requires only half the energy required by buses and a quarter of the energy used by passenger cars per passenger kilometer. The energy used to build the PRT infrastructure in a city may be recovered in five years if 10% of the car drivers switch to the PRT.     

Terminal operations management in vehicle transshipment

This paper reports on the development of an automated planning and scheduling system supporting terminal operations of the vehicle transshipment hub in Bremerhaven. We describe terminal operations and derive an integral decision model for manpower planning and inventory control. Thereby we propose a hierarchical separation of the integral model into sub-models and develop heuristics to solve the arising sub-problems.     

Integrated modeling of information and physical flows in transportation systems

Modeling transportation systems operations in large part involves an understanding of how physical entities (i.e., vehicles) move and interact with each other in the system. Transportation systems that are integrated with information technologies involve flow of information besides the flow of physical entities. In some cases, a unified modeling approach that considers both flows is needed to create an accurate model for system operations. This paper highlights the significance of such a modeling approach that involves an explicit representation of information flow attributes (e.g., response time and information delay). Several small-scale queuing models are developed to illustrate the importance of incorporating information flow related attributes into the models of transportation systems operations. In each example system, two scenarios are considered: modeling the given system with or without explicitly representing the information flow. Comparison of performance statistics is made between these two scenarios. It is found that ignoring information flows may lead to significant inaccuracies in the estimates of the system performance.     

Innovative strategies for urban car-sharing systems and a simulator to assess their performance

In this paper, three innovative car-sharing systems for urban areas are proposed, based on fleets of individual intelligent vehicles with three service characteristics: instant access, open-ended reservations and one-way trips. These features provide high flexibility but create an uneven distribution of vehicles among stations. Therefore, relocation of vehicles must be performed. Three different system procedures are proposed: in the first system, relocations are performed by users; in the other two, vehicles relocate automatically, thanks to their automation. In the first two systems, vehicles are accessible only at stations, whereas in the third they are also accessible along roads. In order to provide transport managers with a tool to test systems in different realities, an object-oriented simulator is developed. The simulation provides outputs of system performance, in terms of user waiting times and system efficiency. The proposed systems are simulated for the city of Genoa, in Italy, and a comparative analysis is presented.     

Passing Bays for Slow Moving Vehicles on Rural Two‐lane Roads

Abstract

Slow‐moving vehicles, including agricultural vehicles, on arterial highways can cause serious delays to other traffic as well as posing an extra safety risk. This paper elaborates on a small‐scale solution for these problems: the passing bay. It investigates the impacts of a passing bay on the total delay for other motorized vehicles, the number of passing manoeuvres and hindered vehicles, and the mean delay per hindered vehicle. The latter is also considered to be an indicator for traffic safety. The calculations are performed for two characteristic trips with a slow‐moving vehicle. The passing bay is an effective solution to reducing delays on arterial highways when two‐way hourly volumes exceed 600–1000 vehicles. The effects depend on the trip length and speed of the slow‐moving vehicle, and on the passing sight distance limitations of the road. A distance of 2–4?km between the passing bays seems an acceptable compromise between the reduction of delay for other motorized vehicles and the extra discomfort and delay for drivers of slow‐moving vehicles. This result also shows that passing bays are not effective in regions where slow‐moving vehicles mainly make trips shorter than this distance.     

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

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