A family of macroscopic node models

The family of macroscopic node models which comply to a set of basic requirements is presented and analysed. Such models are required in macro-, mesoscopic traffic flow models, including dynamic network loading models for dynamic traffic assignment. Based on the behaviour of drivers approaching and passing through intersections, the model family is presented. The headway and the turn delay of vehicles are key variables. Having demand and supply as input creates a natural connection to macroscopic link models. Properties like the invariance principle and the conservation of turning fractions are satisfied. The inherent non-uniqueness is analysed by providing the complete set of feasible solutions. The node models proposed by Tampère et al. (2011), Flötteröd and Rohde (2011) and Gibb (2011) are members of the family. Furthermore, two new models are added to the family. Solution methods for all family members are presented, as well as a qualitative and quantitative comparison. Finally, an outlook for the future development of empirically verified models is given.     

Spatial price equilibrium on congested networks

A new price formulation of the spatial price equilibrium model for congested networks is presented which allows for situations in which equilibrium between producers and consumers within a region may not be achieved. It also leads to a variational inequality in link flow without requiring that each network node be a market. Existence and uniqueness results are given and a solution algorithm is suggested.     

A partial differential equation formulation of Vickrey’s bottleneck model,part II: Numerical analysis and computation

The Vickrey model, originally introduced in Vickrey (1969), is one of the most widely used link-based models in the current literature in dynamic traffic assignment (DTA). One popular formulation of this model is an ordinary differential equation (ODE) that is discontinuous with respect to its state variable. As explained in Ban et al., 2011, Han et al., 2013, such an irregularity induces difficulties in both continuous-time analysis and discrete-time computation. In Han et al. (2013), the authors proposed a reformulation of the Vickrey model as a partial differential equation (PDE) and derived a closed-form solution to the aforementioned ODE. This reformulation enables us to rigorously prove analytical properties of the Vickrey model and related DTA models.In this paper, we present the second of a two-part exploration regarding the PDE formulation of the Vickrey model. As proposed by Han et al. (2013), we continue research on the generalized Vickrey model (GVM) in a discrete-time framework and in the context of DTA by presenting a highly computable solution methodology. Our new computational scheme for the GVM is based on the closed-form solution mentioned above. Unlike finite-difference discretization schemes which could yield non-physical solutions (Ban et al., 2011), the proposed numerical scheme guarantees non-negativity of the queue size and the exit flow as well as first-in-first-out (FIFO). Numerical errors and convergence of the computed solutions are investigated in full mathematical rigor. As an application of the GVM, a class of network system optimal dynamic traffic assignment (SO-DTA) problems is analyzed. We show existence of a continuous-time optimal solution and propose a discrete-time mixed integer linear program (MILP) as an approximation to the original SO-DTA. We also provide convergence results for the proposed MILP approximation.     

Highway alignment optimization through feasible gates

An efficient optimization approach, called feasible gate (FG), is developed to enhance the computation efficiency and solution quality of the previously developed highway alignment optimization (HAO) model. This approach seeks to realistically represent various user preferences and environmentally sensitive areas and consider them along with geometric design constraints in the optimization process. This is done by avoiding the generation of infeasible solutions that violate various constraints and thus focusing the search on the feasible solutions. The proposed method is simple, but improves significantly the model's computation time and solution quality. Such improvements are demonstrated with two test examples from a real road project.     

A partial differential equation formulation of Vickrey’s bottleneck model,part I: Methodology and theoretical analysis

This paper is concerned with the continuous-time Vickrey model, which was first introduced in Vickrey (1969). This model can be described by an ordinary differential equation (ODE) with a right-hand side which is discontinuous in the unknown variable. Such a formulation induces difficulties with both theoretical analysis and numerical computation. Moreover it is widely suspected that an explicit solution to this ODE does not exist. In this paper, we advance the knowledge and understanding of the continuous-time Vickrey model by reformulating it as a partial differential equation (PDE) and by applying a variational method to obtain an explicit solution representation. Such an explicit solution is then shown to be the strong solution to the ODE in full mathematical rigor. Our methodology also leads to the notion of generalized Vickrey model (GVM), which allows the flow to be a distribution, instead of an integrable function. As explained by Han et al. (in press), this feature of traffic modeling is desirable in the context of analytical dynamic traffic assignment (DTA). The proposed PDE formulation provides new insights into the physics of The Vickrey model, which leads to a number of modeling extensions as well as connection with first-order traffic models such as the Lighthill–Whitham–Richards (LWR) model. The explicit solution representation also leads to a new computational method, which will be discussed in an accompanying paper, Han et al. (in press).     

基于增量搜索的车辆动态路径规划算法研究

D＊Lite算法是一种非常高效的增量搜索算法,适合于动态环境下的路径规划。文章基于D＊Lite算法的原理,对该算法的性能及应用于车辆路径规划的适用性进行改进,提高了算法的稳定性和结果的可靠性,并通过试验和算法评价验证了改进的D＊Lite算法在复杂、动态环境下规划路径的有效性。     

Dynamic network loading: A stochastic differentiable model that derives link state distributions

We present a dynamic network loading model that yields queue length distributions, accounts for spillbacks, and maintains a differentiable mapping from the dynamic demand on the dynamic queue lengths. The model also captures the spatial correlation of all queues adjacent to a node, and derives their joint distribution. The approach builds upon an existing stationary queueing network model that is based on finite capacity queueing theory. The original model is specified in terms of a set of differentiable equations, which in the new model are carried over to a set of equally smooth difference equations. The physical correctness of the new model is experimentally confirmed in several congestion regimes. A comparison with results predicted by the kinematic wave model (KWM) shows that the new model correctly represents the dynamic build-up, spillback and dissipation of queues. It goes beyond the KWM in that it captures queue lengths and spillbacks probabilistically, which allows for a richer analysis than the deterministic predictions of the KWM. The new model also generates a plausible fundamental diagram, which demonstrates that it captures well the stationary flow/density relationships in both congested and uncongested conditions.     

Personalized real-time traffic information provision: Agent-based optimization model and solution framework

The advancement of information and communication technology allows the use of more sophisticated information provision strategies for real-time congested traffic management in a congested network. This paper proposes an agent-based optimization modeling framework to provide personalized traffic information for heterogeneous travelers. Based on a space–time network, a time-dependent link flow based integer programming model is first formulated to optimize various information strategies, including elements of where and when to provide the information, to whom the information is given, and what alternative route information should be suggested. The analytical model can be solved efficiently using off-the-shelf commercial solvers for small-scale network. A Lagrangian Relaxation-based heuristic solution approach is developed for medium to large networks via the use of a mesoscopic dynamic traffic simulator.     

Do microscopic merging models reproduce the observed priority sharing ratio in congestion?

A classical way to represent vehicle interactions at merges at the microscopic scale is to combine a gap-acceptance model with a car-following algorithm. However, in congested conditions (when a queue spills back on the major road), outputs of such a combination may be irrelevant if anticipatory aspects of vehicle behaviours are disregarded (like in single-level gap-acceptance models). Indeed, the insertion decision outcomes are so closely bound to the car-following algorithm that irrelevant results are produced. On the one hand, the insertion decision choice is sensitive to numerical errors due to the car-following algorithm. On the other hand, the priority sharing process observed in congestion cannot be correctly reproduced because of the constraints imposed by the car-following on the gap-acceptance model. To get over these issues, more sophisticated gap-acceptance algorithms accounting for cooperation and aggressiveness amongst drivers have been recently developed (multi-level gap-acceptance models). Another simpler solution, with fewer parameters, is investigated in this paper. It consists in introducing a relaxation procedure within the car-following rules and proposing a new insertion decision algorithm in order to loosen the links between both model components. This approach will be shown to accurately model the observed flow allocation pattern in congested conditions at an aggregate scale.     

Network Signal Setting Design: Meta-heuristic optimisation methods

This paper aims to investigate the application of meta-heuristic optimisation methods to Network Signal Setting Design. The adopted approaches are (i) three step optimisation, in which first the stage matrix (stage composition and sequence), the green timings at each single junction are optimised, then the node offsets are computed in three successive steps; (ii) two step optimisation, in which the stage matrix is defined at a first step, then the green timings and the node offsets are computed at a second step. In both approaches the stage matrix optimisation is carried out through explicit complete enumeration.In the first approach multi-criteria optimisation is followed for single junction signal setting design (green timings), whilst the coordination (node offsets) is approached through mono-criterion optimisation, as well as for the synchronisation (green timings and offsets) in the second approach.A new traffic flow model mixing CTM and PDM has been applied. This model allows to explicitly represent horizontal queuing phenomena as well as dispersion along a link. Some meta-heuristic algorithms (i.e. Genetic Algorithms, Hill Climbing and Simulated Annealing) are investigated in order to solve the two problems.The proposed strategies are applied to two different layouts (a two junction arterial vs. a four junction network) and their effectiveness is evaluated by comparing the obtained results with those from benchmark approaches implementing mono-criterion optimisation only.     

Exploring the feasibility of classification trees versus ordinal discrete choice models for analyzing crash severity

A cross-median crash (CMC) is one of the most severe types of crashes in which a vehicle crosses the median and sometimes collides with opposing traffic. A study of severity of CMCs in the state of Wisconsin was conducted by Lu et al. in 2010. Discrete choice models, namely ordinal logit and probit models were used to analyze factors related to the severity of CMCs. Separate models were developed for single and multi-vehicle CMCs. Although 25 different crash, roadway, and geometric variables were used, only 3 variables were found to be statistically significant which were alcohol usage, posted speed, and road conditions. The objective of this research was to explore the feasibility of GUIDE Classification Tree method to analyze the severity of CMCs to discover if any additional information could be revealed.A dataset of CMCs in the state of Wisconsin between 2001 and 2007, used in the study by Lu et al. was used to develop three different GUIDE Classification Trees. Additionally, the effects of variable types (continuous or discrete), misclassification costs, and tree pruning characteristics on models results were also explored. The results were directly compared with discrete choice models developed in the study by Lu et al. showing that the GUIDE Classification Trees revealed new variables (median width and traffic volume) that affect CMC severity and provided useful insight on the data. The results of this research suggest that the use of Classification Tree analysis should at least be considered in conjunction with regression-based crash models to better understand factors affecting crashes. Classification Tree models were able to reveal additional information about the dependent variable and offer advantages with respect to multicollinearity and variable redundancy issues.     

A traffic noise model for road intersections in the city of Cartagena de Indias,Colombia

Road traffic noise models are fundamental tools for designing and implementing appropriate prevention plans to minimize and control noise levels in urban areas. The objective of this study is to develop a traffic noise model to simulate the average equivalent sound pressure level at road intersections based on traffic flow and site characteristics, in the city of Cartagena de Indias (Cartagena), Colombia. Motorcycles are included as an additional vehicle category since they represent more than 30% of the total traffic flow and a distinctive source of noise that needs to be characterized. Noise measurements are collected using a sound level meter Type II. The data analysis leads to the development of noise maps and a general mathematical model for the city of Cartagena, Colombia, which correlates the sound levels as a function of vehicle flow within road intersections. The highest noise levels were 79.7 dB(A) for the road intersection María Auxiliadora during the week (business days) and 77.7 dB(A) for the road intersection India Catalina during weekends (non-business days). Although traffic and noise are naturally related, the intersections with higher vehicle flow did not have the highest noise levels. The roadway noise for these intersections in the city of Cartagena exceeds current limit standards. The roadway noise model is able to satisfactorily predict noise emissions for road intersections in the city of Cartagena, Colombia.     

Dynamic user equilibrium based on a hydrodynamic model

In this paper we present a continuous-time network loading procedure based on the Lighthill–Whitham–Richards model proposed by Lighthill and Whitham, 1955, Richards, 1956. A system of differential algebraic equations (DAEs) is proposed for describing traffic flow propagation, travel delay and route choices. We employ a novel numerical apparatus to reformulate the scalar conservation law as a flow-based partial differential equation (PDE), which is then solved semi-analytically with the Lax–Hopf formula. This approach allows for an efficient computational scheme for large-scale networks. We embed this network loading procedure into the dynamic user equilibrium (DUE) model proposed by Friesz et al. (1993). The DUE model is solved as a differential variational inequality (DVI) using a fixed-point algorithm. Several numerical examples of DUE on networks of varying sizes are presented, including the Sioux Falls network with a significant number of paths and origin–destination pairs (OD).The DUE model presented in this article can be formulated as a variational inequality (VI) as reported in Friesz et al. (1993). We will present the Kuhn–Tucker (KT) conditions for that VI, which is a linear system for any given feasible solution, and use them to check whether a DUE solution has been attained. In order to solve for the KT multiplier we present a decomposition of the linear system that allows efficient computation of the dual variables. The numerical solutions of DUE obtained from fixed-point iterations will be tested against the KT conditions and validated as legitimate solutions.     

Revisiting Jiang’s dynamic continuum model for urban cities

Jiang et al. (Jiang, Y.Q., Wong, S.C., Ho, H.W., Zhang, P., Liu, R.X., Sumalee, A., 2011. A dynamic traffic assignment model for a continuum transportation system. Transportation Research Part B 45 (2), 343–363) proposed a predictive continuum dynamic user-optimaDUO-l to investigate the dynamic characteristics of traffic flow and the corresponding route-choice behavior of travelers. Their modeled region is a dense urban city that is arbitrary in shape and has a single central business district (CBD). However, we argue that the model is not well posed due to an inconsistency in the route-choice strategy under certain conditions. To overcome this inconsistency, we revisit the PDUO-C problem, and construct an improved path-choice strategy. The improved model consists of a conservation law to govern the density, in which the flow direction is determined by the improved path-choice strategy, and a Hamilton–Jacobi equation to compute the total travel cost. The simultaneous satisfaction of both equations can be treated as a fixed-point problem. A self-adaptive method of successive averages (MSA) is proposed to solve this fixed-point problem. This method can automatically determine the optimal MSA step size using the least squares approach. Numerical examples are used to demonstrate the effectiveness of the model and the solution algorithm.     

A dynamic traffic assignment model for a continuum transportation system

A predictive continuum dynamic user-optimal (PDUO-C) model is formulated in this study to investigate the dynamic characteristics of traffic flow and the corresponding route-choice behavior of travelers within a region with a dense urban road network. The modeled region is arbitrary in shape with a single central business district (CBD) and travelers continuously distributed over the region. Within this region, the road network is represented as a continuum and travelers patronize a two-dimensional continuum transportation system to travel to the CBD. The PDUO-C model is solved by a promising solution algorithm that includes elements of the finite volume method (FVM), the finite element method (FEM), and the explicit total variation diminishing Runge-Kutta (TVD-RK) time-stepping method. A numerical example is given to demonstrate the utility of the proposed model and the effectiveness of the solution algorithm in solving this PDUO-C problem.     

Closed-form multiclass cell transmission model enhanced with overtaking,lane-changing,and first-in first-out properties

A novel multiclass macroscopic model is proposed in this article. In order to enhance first-in, first-out property (FIFO) and transmission function in the multiclass traffic modeling, a new multiclass cell transmission model with FIFO property (herein called FM-CTM) is extended from its prior multiclass cell transmission model (M-CTM). Also, to enhance its analytical compactness and resultant computational convenience, FM-CTM is formulated in this paper as a set of closed-form matrix equations. The objective is to improve the accuracy of traffic state estimation by enforcing FIFO property when a fast vehicle cannot overtake a slow vehicle due to a limitation of a single-lane road. Moreover, the proposed model takes into account a different priority for vehicles of each class to move forward through congested road conditions, and that makes the flow calculation independent from their free-flow speeds. Some hypothetical and real-world freeway networks with a constant or varying number of lanes are selected to verify FM-CTM by comparing with M-CTM and the conventional CTM. Observed densities of VISSIM and real-world dataset of I-80 are selected to compare with the simulated densities from the three CTMs. The numerical results show that FM-CTM outperforms the other two models by 15% of accuracy measures in most cases. Therefore, the proposed model is expected to be well applicable to the road network with a mixed traffic and varying number of lanes.     

Safety in the road environment: a driver behavioural response perspective

The existing literature on road safety suggests that a driver's perception of safety is an important influence on their driving behaviour. A challenging research question is how to measure the perception of safety given the complex interactions among drivers, vehicles and the road setting. In this paper, we investigate a sample of driver evaluations of the perception of safety associated with a set of typical road environments. A roundabout was selected as the context for the empirical study. Data was obtained by a computerised survey using the video-captured road and traffic situations. A controlled experiment elicited driver responses when faced with a mixture of attributes that describe the roundabout environment. An ordered probit model identified the contribution of each attribute to the overall determination of the perception of safety. An indicator of perceived safety was developed for a number of typical road and traffic situations and for different driver segments.     

Cooperative traffic control of a mixed network with two urban regions and a freeway

Currently most optimization methods for urban transport networks (i) are suited for networks with simplified dynamics that are far from real-sized networks or (ii) apply decentralized control, which is not appropriate for heterogeneously loaded networks or (iii) investigate good-quality solutions through micro-simulation models and scenario analysis, which make the problem intractable in real time. In principle, traffic management decisions for different sub-systems of a transport network (urban, freeway) are controlled by operational rules that are network specific and independent from one traffic authority to another. In this paper, the macroscopic traffic modeling and control of a large-scale mixed transportation network consisting of a freeway and an urban network is tackled. The urban network is partitioned into two regions, each one with a well-defined Macroscopic Fundamental Diagram (MFD), i.e. a unimodal and low-scatter relationship between region density and outflow. The freeway is regarded as one alternative commuting route which has one on-ramp and one off-ramp within each urban region. The urban and freeway flow dynamics are formulated with the tool of MFD and asymmetric cell transmission model, respectively. Perimeter controllers on the border of the urban regions operating to manipulate the perimeter interflow between the two regions, and controllers at the on-ramps for ramp metering are considered to control the flow distribution in the mixed network. The optimal traffic control problem is solved by a Model Predictive Control (MPC) approach in order to minimize total delay in the entire network. Several control policies with different levels of urban-freeway control coordination are introduced and tested to scrutinize the characteristics of the proposed controllers. Numerical results demonstrate how different levels of coordination improve the performance once compared with independent control for freeway and urban network. The approach presented in this paper can be extended to implement efficient real-world control strategies for large-scale mixed traffic networks.     

A nested recursive logit model for route choice analysis

We propose a route choice model that relaxes the independence from irrelevant alternatives property of the logit model by allowing scale parameters to be link specific. Similar to the recursive logit (RL) model proposed by Fosgerau et al. (2013), the choice of path is modeled as a sequence of link choices and the model does not require any sampling of choice sets. Furthermore, the model can be consistently estimated and efficiently used for prediction.A key challenge lies in the computation of the value functions, i.e. the expected maximum utility from any position in the network to a destination. The value functions are the solution to a system of non-linear equations. We propose an iterative method with dynamic accuracy that allows to efficiently solve these systems.We report estimation results and a cross-validation study for a real network. The results show that the NRL model yields sensible parameter estimates and the fit is significantly better than the RL model. Moreover, the NRL model outperforms the RL model in terms of prediction.     

A static network level model for the information propagation in vehicular ad hoc networks

In this paper, we present a network level model to describe the information propagation in vehicular ad hoc networks (VANETs). The approach utilizes an existing one-dimensional propagation model to evaluate information travel times on the individual arcs of the network. Traffic flow characteristics are evaluated by a static traffic assignment model. Upper and lower bounds are developed for the time of information propagation between two nodes in a network. We show that the bounds yield good (typically within 5%) estimates of the true time lag for the lower penetration rates (<10%), which makes them particularly useful in the initial deployment stages of vehicle-to-vehicle (V2V) communication. Furthermore, our lower bound reveals that – quite surprisingly – for sufficiently low penetration rates, more equipped vehicles on the road does not necessarily promote the fast propagation of information. As an application of the bounds, we formulate a resource allocation model in which communication devices can be installed along roads to promote wireless propagation. A set of efficient heuristic algorithms is developed to solve the resource allocation problem. Numerical results are given throughout.