A framework for user equilibrium dynamic traffic assignment

Several analytic approaches have been developed to describe or predict traffic flows on networks with time-varying (dynamic) travel demands, flows and travel times. A key component of these models lies in modelling the flows and/or travel times on the individual links, but as this is made more realistic or accurate it tends to make the overall model less computationally tractable. To help overcome this, and for other reasons, we develop a bi-level user equilibrium (UE) framework that separates the assignment or loading of flows on the time–space network from the modelling of flows and trip times within individual links. We show that this model or framework satisfies appropriate definitions of UE satisfies a first-in-first-out (FIFO) property of road traffic, and has other desirable properties. The model can be solved by iterating between (a) a linear network-loading model that takes the lengths of time–space links as fixed (within narrow ranges), and (b) a set of link flow sub-models which update the link trip times to construct a new time–space network. This allows links to be processed sequentially or in parallel and avoids having to enumerate paths and compute path flows or travel times. We test and demonstrate the model and algorithms using example networks and find that the algorithm converges quickly and the solutions behave as expected. We show how to extend the model to handle elastic demands, multiple destinations and multiple traffic types, and traffic spillback within links and from link to link.     

An N-path user equilibrium for transportation networks

The traditional trip-based approach to transportation modeling has been employed for the past decade. The last step of the trip-based modeling approach is traffic assignment, which has been typically formulated as a user equilibrium (UE) problem. In the conventional perspective, the definition of UE traffic assignment is the condition that no road user can unilaterally change routes to reduce their travel time. An equivalent definition is that the travel times of all the used paths between any given origin–destination pair are equal and less than those of the unused paths. The underlying assumption of the UE definition is that road users have full information on the available transportation paths and can potentially use any path if the currently used path is overly congested. However, a more practical scenario is that each road user has a limited path set within which she/he can choose routes from. In this new scenario, we call the resulting user equilibrium an N-path user equilibrium (NPUE), in which each road user has only N paths to select from when making route choices in the network. We introduce a new formulation of the NPUE and derive optimality conditions based on this formulation. Different from traditional modeling framework, the constraints of the proposed model are of linear form, which makes it possible to solve the problem with conventional convex programming techniques. We also show that the traditional UE is a special case of an NPUE and prove the uniqueness of the resulting flow pattern of the NPUE. To efficiently solve this problem, we devise path-based and link-based solution algorithms. The proposed solution algorithms are empirically applied to networks of various sizes to examine the impact of constrained user path sets. Numerical results demonstrate that NPUE results can differ significantly from UE results depending on the number of paths available to road users. In addition, we observed an interesting phenomenon, where increasing the number of paths available to road users can sometimes decrease the overall system performance due to their selfish routing behaviors. This paradox demonstrates that network information should be provided with caution, as such information can do more harm than good in certain transportation systems.     

Day-to-day evolution of the traffic network with Advanced Traveler Information System

Since the notion of user equilibrium (UE) was proposed by Wardrop [13], it has become a cornerstone for traffic assignment analysis. But, it is not sufficient to only ask whether equilibrium exists or not; it is equally important to ask whether and how the system can achieve equilibrium. Meanwhile, stability is an important performance in the sense that if equilibrium is unsustainable, both the equilibrium and the trajectory are sensitive to disturbances, even a small perturbation will result in the system evolution away from the equilibrium point. These incentive a growing interest in day-to-day dynamics. In this paper, we develop a dynamical system with Advanced Traveler Information System (ATIS) and study the stability of the network with ATIS. A simple network is used to simulate the model, and the results show that there exist periodic attractors in the traffic network in some cases (for example, the market penetration level of ATIS is 0.25 and traffic demand is 2 unit). It is found that the logit parameter of the dynamical model and the traffic demand can also affect the stability of the traffic network. More periodic attractors appear in the system when the traffic demand is large and the low logit parameter can delay the appearance of periodic attractors. By simulation, it can be concluded that if the range of the periodic attractors’ domain of the simple network is known, the road pricing based on the range of the attraction domain is effective to alleviate the instability of the system.     

System optimal and user equilibrium time-dependent traffic assignment in congested networks

This paper formulates two dynamic network traffic assignment models in which O-D desires for the planning horizon are assumed known a priori: the system optimal (SO) and the user equilibrium (UE) time-dependent traffic assignment formulations. Solution algorithms developed and implemented for these models incorporate a traffic simulation model within an overall iterative search framework. Experiments conducted on a test network provide the basis for a comparative analysis of system performance under the SO and UE models.     

A column generation algorithm for the estimation of origin–destination matrices in congested traffic networks

The general problem of estimating origin–destination (O–D) matrices in congested traffic networks is formulated as a mathematical programme with equilibrium constraints, referred to as the demand adjustment problem (DAP). This approach integrates the O–D matrix estimation and the network equilibrium assignment into one process. In this paper, a column generation algorithm for the DAP is presented. This algorithm iteratively solves a deterministic user equilibrium model for a given O–D matrix and a DAP restricted to the previously generated paths, whose solution generates a new O–D trip matrix estimation. The restricted DAP is formulated via a single level optimization problem. The convergence on local minimum of the proposed algorithm requires only the continuity of the link travel cost functions and the gauges used in the definition of the DAP.     

A modified Physarum-inspired model for the user equilibrium traffic assignment problem

The user equilibrium traffic assignment principle is very important in the traffic assignment problem. Mathematical programming models are designed to solve the user equilibrium problem in traditional algorithms. Recently, the Physarum shows the ability to address the user equilibrium and system optimization traffic assignment problems. However, the Physarum model are not efficient in real traffic networks with two-way traffic characteristics and multiple origin–destination pairs. In this article, a modified Physarum-inspired model for the user equilibrium problem is proposed. By decomposing traffic flux based on origin nodes, the traffic flux from different origin–destination pairs can be distinguished in the proposed model. The Physarum can obtain the equilibrium traffic flux when no shorter path can be discovered between each origin–destination pair. Finally, numerical examples demonstrate the rationality and convergence properties of the proposed model.     

Integrating link-based discrete credit charging scheme into discrete network design problem

In this paper, we present an optimization model for integrating link-based discrete credit charging scheme into the discrete network design problem, to improve the transport performance from the perspectives of both transport network planning and travel demand management. The proposed model is a mixed-integer nonlinear bilevel programming problem, which includes an upper level problem for the transport authority and a lower level problem for the network users. The lower level sub-model is the traffic network user equilibrium (UE) formulation for a given network design strategy determined by the upper level problem. The network user at the lower level tries to minimize his/her own generalized travel cost (including both the travel time and the value of the credit charged for using the link) by choosing his/her route. While the transport authority at the upper level tries to find the optimal number of lanes and credit charging level with their locations to minimize the total system travel time (or maximize the transportation system performance). A genetic algorithm is used to solve the proposed mixed-integer nonlinear bilevel programming problem. Numerical experiments show the efficiency of the proposed model for traffic congestion mitigation, reveal that interaction effects across the tradable credit scheme and the discrete network design problem which amplify their individual effects. Moreover, the integrated model can achieve better performance than the sequential decision problems.     

交通网络建设序列的动态规划方法

交通网络建设序列优化是交通规划中一个重要问题。文章对交通网络设计及其建设序列问题的研究现状进行了分析。按照网络建设中规划者和用户间的关系,以交通网络建设序列下的各阶段系统总费用作为上层规划,以各阶段的交通流用户平衡模型作为下层规划,建立了双层规划模型。并依照问题的特点,采用动态规划的求解方法进行探讨,而下层模型则采用了基于路径搜索的GP算法进行求解。并针对网络规划算例进行了计算,针对固定和变动客流OD两种情况下的结果进行了分析。计算的结果表明,问题的双层规划模型和动态规划求解算法能够为路网规划决策提供支持。     

双模式交通网络中的ATIS信息定价研究

先进的出行者信息系统(ATIS)是一种服务商品,已有的研究多从提高市场占有率的角度对单模式交通网络中的ATIS进行信息定价。多模式交通网络中影响ATIS市场占有率的因素众多,而且ATIS的提供成本往往与信息质量和使用规模同时相关。因此,信息定价问题应从ATIS服务提供商利润最大化的角度进行研究。本文把ATIS信息的单次使用费用和ATIS的信息质量同时作为决策变量,将双模式路网中ATIS的定价问题描述为一个双层规划模型。其中,混合用户均衡模型为下层模型,收益模型为上层模型。然后,基于上海市虹口区的路网数据,对下层模型进行了数值分析,并讨论了相关经济效益问题。此外,本文提出了求解下层模型的MSAF算法,并进一步嵌套了粒子群(PSO)算法,最终得到ATIS服务提供商的最优ATIS信息定价和信息质量提供方案。     

A semismooth Newton method for traffic equilibrium problem with a general nonadditive route cost

Computing traffic equilibria with a general nonadditive route cost disutility function is considered in this paper. Following the user equilibrium (UE) condition, that is, no driver can unilaterally change route to achieve less travel costs, the traffic equilibrium problem (TEP) can be formulated as a nonlinear complementary problem (NCP). In this paper, we propose a semismooth Newton method with a penalized Fischer–Burmeister (PFB) NCP function to solve the NCP formulation of the TEP, and also, we investigate the properties of the proposed method. Numerical results are provided and compared with the classical TEP with additive route cost functions. The results show the algorithm can achieved substantially better performance than the existing approaches. A sensitivity analysis is also conducted to examine the parameter of the proposed nonadditive route cost function.     

Turning restriction design in traffic networks with a budget constraint

The restriction (prohibition) of certain turns at intersections is a very common task employed by the managers of urban traffic networks. Surprisingly, this approach has received little attention in the research literature. The turning restriction design problem (TRDP) involves finding a set of turning restrictions at intersections to promote flow in a congested urban traffic network. This article uses a successive linear approximation (SLA) method for identifying approximate solutions to a nonlinear model of the TRDP. It aims to adjust the current turning restriction regime in a given network in order to minimize total user travel cost when route choice is driven by user equilibrium principles. Novel features of the method include the facts that it is based on link capacity-based arc travel costs and there is a budget constraint on the total cost of all turning restriction alterations. It has been tested using standard network examples from the literature. One of the tests utilized a multi-start approach which improved the solutions produced by the SLA method. The method was also employed to identify turning restrictions for an actual medium-sized urban traffic network in Brazil. Computational experience with the proposed method is promising.     

A novel algorithm for area traffic capacity control with elastic travel demands

A non-linear area traffic control system with limited capacity is considered in this paper. Optimal signal settings and link capacity expansions can be determined while trip distribution and network flow are in equilibrium. This problem can be formulated as a non-linear mathematical program with equilibrium constraints. For the objective function a non-linear constrained optimization program for signal settings and link capacity expansion is determined. For the constraint set the elastic user equilibrium traffic assignment obeying Wardrop’s first principle can be formulated as a variational inequality. Since the constrained optimization problem is non-convex, only local optima can be obtained. In this paper, a novel algorithm using a non-smooth trust region approach is proposed. Numerical tests are performed using a real data city network and various example test networks in which the effectiveness and robustness of the proposed method are confirmed as compared to other well-known solution methods.     

Multiclass multicriteria mixed equilibrium on networks and uniform link tolls for system optimum

In this paper, we consider a unified framework of multiclass multicriteria mixed equilibrium, and the existence of uniform link tolls supporting such a mixed equilibrium as a system optimum. The network users are divided into different classes, and each class of traveler perceives his/her disutility associated with a route as a combination of two criteria given, respectively, by the travel time disutility and the time-irrelevant travel disutility. And users in a common class follow either user equilibrium (UE) principle or Cournot–Nash (CN) principle. A variational inequality model characterizing the multiclass multicriteria UE–CN mixed equilibrium behavior is developed. By utilizing the dual theory, we establish the existence of uniform link tolls supporting such mixed equilibrium as a system optimum.     

交通拥堵管理中可交易电子券方案的公平性分析

利用损失厌恶理论中的参照依赖模型,构建用户的感知出行成本函数,在固定需求的交通网络中加入电子券交易费用率,建立均衡条件下的变分不等式模型。通过模拟仿真,说明市场交易费用率会影响电子券交易市场,政府可通过调节交易费用率提高电子券方案公平性。选取路网中所有起讫对间出行成本变化率波动的加权平均值,度量可交易电子券方案的公平性,综合考虑最小化系统出行总成本和最大化方案公平性两个目标,构造效用函数,分析不同权重下市场交易费用率对可交易电子券方案的影响,以期对电子券方案的公平性进行优化。     

多模式城市交通网络随机用户平衡配流模型

本文考虑了影响出行者选择出行方式的多种因素(如出行时间、花费、舒适性等),分析了多种交通方式并存的城市交通网络,基于随机用户平衡理论构造了多模式的交通配流模型,并证明了模型解的等价性和惟一性,给出了求解算法.     

双模式网络停车限制交通需求管理模型与方法研究

在轨道网和公路网并存的双模式交通网络, 合理设计出行终点的停车容量可优化汽车出行需求, 改善路网交通环境。本文通过分析私家车与城市轨道两种交通模式的出行需求, 并考虑私家车模式的终点停车收费服务, 建立了一种带路段环境容量和终点停车需求容量共同约束的交通需求管理模型。模型中路网使用者的出行模式采用二元Logit模型来计算, 而私家车的路线选择行为服从Logit随机用户均衡, 因此该模型是一个带不动点约束的数学规划问题。针对模型求解困难, 文中采用灵敏度分析来获取各路段流量和需求量关于终点容量波动的梯度信息, 进而设计了一种新的灵敏度分析求解算法.最后通过数值仿真实验, 验证了算法的有效性, 同时分析了不同停车收费参数对模型各指标变化趋势的影响。     

界定用户平衡及Logit型随机用户平衡下的混合平衡交通网络效率损失

考虑一个具有两类用户的交通网络,一类用户按照用户平衡原则选择出行路径,另一类用户按照Logit型随机用户平衡原则选择出行路径.建立了描述这种混合平衡出行行为的变分不等式模型,给出了满足此种混合平衡的交通网络效率损失上界,结果表明,效率损失上界与被研究的交通网络拓扑结构,交通需求及两类用户的划分比例系数有关.     

Traffic assignment model with fuzzy level of travel demand: An efficient algorithm based on quasi-Logit formulas

The place of fuzzy concepts in traffic assignment (TA) models has been studied in recent literature. Keeping fuzzy level of travel demand in mind, we propose a new TA model in which the travel costs of links are depended on their congestion. From the results of such fuzzy TA model, network planners are able to estimate the number of travelers on network links. By using zero–one variables, the proposed model is transformed into a crisp mixed-integer problem with respect to path-flow variables. In order to produce the Logit flows from this problem, Damberg et al. algorithm is modified. Then, the level of certainty is maximized and perceived travel delays are minimized. For a fixed certainty degree, the obtained solution, which is named the fuzzy equilibrium flow, satisfies a quasi-Logit formula similar to ordinary expression of the Logit route choice model. Eventually, we examine the quality of different path enumeration techniques in the proposed model.     

Complex dynamics of a discrete predator–prey model with the prey subject to the Allee effect

In this paper, complex dynamics of the discrete predator–prey model with the prey subject to the Allee effect are investigated in detail. Firstly, when the prey intrinsic growth rate is not large, the basins of attraction of the equilibrium points of the single population model are given. Secondly, rigorous results on the existence and stability of the equilibrium points of the model are derived, especially, by analyzing the higher order terms, we obtain that the non-hyperbolic extinction equilibrium point is locally asymptotically stable. The existences and bifurcation directions for the flip bifurcation, the Neimark–Sacker bifurcation and codimension-two bifurcations with 1:2 resonance are derived by using the center manifold theorem and the bifurcation theory. We derive that the model only exhibits a supercritical flip bifurcation and it is possible for the model to exhibit a supercritical or subcritical Neimark–Sacker bifurcation at the larger positive equilibrium point. Chaos in the sense of Marotto is proved by analytical methods. Finally, numerical simulations including bifurcation diagrams, phase portraits, sensitivity dependence on the initial values, Lyapunov exponents display new and rich dynamical behaviour. The analytic results and numerical simulations demonstrate that the Allee effect plays a very important role for dynamical behaviour.     

Equilibria for networks with malicious users

We consider the problem of characterizing user equilibria and optimal solutions for selfish routing in a given network. We extend the known models by considering malicious behavior. While selfish users follow a strategy that minimizes their individual cost, a malicious user will use his flow through the network in an effort to cause the maximum possible damage to the overall cost. We define a generalized model, present characterizations of flows at equilibrium and prove bounds for the ratio of the social cost of a flow at equilibrium over the cost when centralized coordination among users is allowed. An extended abstract of this work appeared in the Proceedings of the 14th Annual International Symposium on Algorithms and Computation (ISAAC) 2003. G. Karakostas’ research was supported by an NSERC Discovery research grant and MITACS. Part of this research was done when Viglas was a postdoctoral fellow at the University of Toronto, Canada.