Transportation Engineering. Theory, Practice and Modeling PDF
Preview Transportation Engineering. Theory, Practice and Modeling
Transportation Engineering Theory, Practice, and Modeling Transportation Engineering Theory, Practice, and Modeling Dusˇan Teodorovic´ University ofBelgrade Milan Janic´ Delft University ofTechnology AMSTERDAM (cid:129) BOSTON (cid:129) HEIDELBERG (cid:129) LONDON NEW YORK (cid:129) OXFORD (cid:129) PARIS (cid:129) SAN DIEGO SAN FRANCISCO (cid:129) SINGAPORE (cid:129) SYDNEY (cid:129) TOKYO Butterworth-Heinemann is an imprint of Elsevier Butterworth-HeinemannisanimprintofElsevier TheBoulevard,LangfordLane,Kidlington,OxfordOX51GB,UnitedKingdom 50HampshireStreet,5thFloor,Cambridge,MA02139,UnitedStates #2017ElsevierInc.Allrightsreserved. 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Practitionersandresearchersmustalwaysrelyontheirownexperienceandknowledgeinevaluatingandusingany information,methods,compounds,orexperimentsdescribedherein.Inusingsuchinformationormethodsthey shouldbemindfuloftheirownsafetyandthesafetyofothers,includingpartiesforwhomtheyhaveaprofessional responsibility. Tothefullestextentofthelaw,neitherthePublishernortheauthors,contributors,oreditors,assumeanyliability foranyinjuryand/ordamagetopersonsorpropertyasamatterofproductsliability,negligenceorotherwise,or fromanyuseoroperationofanymethods,products,instructions,orideascontainedinthematerialherein. LibraryofCongressCataloging-in-PublicationData AcatalogrecordforthisbookisavailablefromtheLibraryofCongress BritishLibraryCataloguing-in-PublicationData AcataloguerecordforthisbookisavailablefromtheBritishLibrary ISBN:978-0-12-803818-5 ForinformationonallButterworthHeinemannpublications visitourwebsiteathttps://www.elsevier.com/ Publisher:JoeHayton AcquisitionEditor:KenMcCombs EditorialProjectManager:PeterJardim ProductionProjectManager:VijayarajPurushothaman CoverDesigner:VictoriaPearson TypesetbySPiGlobal,India To my wife, children, and grandchildren Dusˇan Teodorovic´ To my wife and son Milan Janic´ About the Authors Dr.DusˇanTeodorovic´isProfessorattheFacultyofTransportandTrafficEngineering,Universityof Belgrade,Serbia.HehasbeenelectedmemberoftheSerbianAcademyofSciencesandArtsandthe EuropeanAcademyofSciencesandArts.Dr.Teodorovic´hasbeenHonorableSenatoroftheUniversity ofLjubljana,Sloveniasince2011.HewasViceRectoroftheUniversityofBelgrade.Hehasworldwide academicexperiencewithformalappointmentsatVirginiaTech,UnitedStates.ProfessorTeodorovic´ wasvisitingprofessorandvisitingscholaratmanyuniversitiesinEurope,theUnitedStates,andAsia. Since 2006, he has been Professor Emeritus of Virginia Tech, United States. Dr. Teodorovic´ has authoredorcoauthorednumerousresearchpublicationsinpeer-reviewedinternationaljournals,book chapters, and conference proceedings. He has published the books Airline Operations Research and TrafficControlandTransportationPlanning;AFuzzySetsandNeuralNetworksApproach.Professor Teodorovic´istheEditoroftheRoutledgeHandbookofTransportation.Hisprimaryresearchinterests are in operations researchand computational intelligence applicationsin transportation engineering. Dr. Milan Janic´ is a Senior Researcher at the Faculty of Civil Engineering and Geosciences (DepartmentofTransport&Planning)ofDelftUniversityofTechnology,TheNetherlands.Heisalso ResearchProfessorattheUniversityofBelgrade,Serbia.Previously,hewasaLeaderoftheResearch Program and Senior Researcher at Manchester Metropolitan University, Loughborough University, andtheInstituteofTransportoftheSlovenianRailways.Dr.Janic´hasbeeninvolvedinmanyresearch andplanningprojectsonbothanationalandinternationalscaleforalmost30years.Hehasalsopub- lishednumerouspapersinpeer-reviewedjournals.Inadditiontocontributingtomanyeditedbooks,he haspublishedthefollowingbooks:AdvancedTransportSystems:Analysis,Modelling,andEvaluation ofPerformances,GreeningAirports:AdvancedTechnologyandOperations,AirportAnalysis, Plan- ning and Design: Demand, Capacity and Congestion, The Sustainability of Air Transportation: A QuantitativeAnalysis and Assessment, and Air Transport System Analysis and Modelling:Capacity, Quality ofServices and Economics. xvii Foreword ItiswithgreatpleasurethatIamwritingthisforewordtoTransportationEngineering:Multi-Modal Transportation Networks, Theory, Practice and Modeling by Dusˇan Teodorovi(cid:1)c and Milan Jani(cid:1)c. I have known the two authors for a long time—close to 40 years by now. Both have enjoyed highly productive and distinguished careers at major universities, not only in their native lands of Serbia andSlovenia,butalsointheUnitedStates,theUnitedKingdom,andtheNetherlands.Theirexperience aseducatorsandexpertiseasresearchersarereflectedinthisvaluablebook.Theyhavewitnessedfirst- handandhavecontributedthemselvestothedevelopmentandevolutionofthetransportationfielddur- ing their professional lifetimes. Since2001,Ihavebeenco-teachingwithvariouscolleaguesatMITacoursecalled“Transportation SystemsAnalysis:SupplyandPerformance,”whichintroducesfundamentalquantitativemodelsand theirapplicationtofirst-yeargraduatestudentsinourTransportationProgram.Thecourseattemptsto providean overviewthat spans all modes of transport and cuts acrossthe disciplines oftraffic engi- neering,transportationscience,transportationeconomics,andoperationsresearch.Whiledeveloping the course and in the years that have followed, I have been struck by the absence of a textbook that covers this material in an integrated fashion and at an adequate and consistent mathematical level. Theavailablebookstendtobefocusedprimarilyonasinglemodeand,usually,ononlyspecificaspects ofthemode,suchasurbantraffic,highwaytraffic,publictransit,orairtrafficmanagement.Moreover, their mathematical level is all too often either elementary—so that the reader cannot appreciate the powerofthe existing analyticaltools—oruneven, alternatingbetweenvery basic andtooadvanced. Asaresult,mycolleaguesandIhavereliedonourowncoursenotes,supplementedbyselectedread- ings of landmarkpapersor book chapters. Thisnewbookthereforeconstitutesamostwelcomeadditiontothetransportationliterature,asit addressesthecentralissueIidentifiedinthepreviousparagraph—lackofintegrationacrosstranspor- tationmodes,disciplines,andmethodologicalapproaches.Takingadvantageoftheircomplementary areas of expertise, the authors have managed to write a textbook that truly spans all modes. Having devotedalargepartofmyownresearchtoairtransportation,Iamparticularlypleasedtoseethatair- portsandairtraffichavebeengiventheir“fairshare”ofattention.Airtransporthasbecomethedom- inantmodeoflong-haulpassengertransportationonaglobalscaleanditisessentialthattransportation professionalsandstudentsbecomefamiliarwithsomeofthemostimportantmodelsthatdescribeair trafficmovementandprocesses.Anadded benefit,inthisrespect,isthatairtrafficmodelstypically treatvehicles(theairplanes)asdiscreteobjects.Thus,thesemodelsexposethereadertoasetofmeth- odologies, such as integer programming, that focus on individual, “atomistic” entities. Air traffic modelsthereforeofferaperspectivedifferentfromthecontinuousflowmodelsthataregenerallyused to study road and highway traffic. Another welcome featureofthebookisthatitdoesnotdrawapriorianydividinglinesbetween modesoftransport,butisstructuredaroundasetofmajorcommonthemes,suchas“trafficflowthe- ory,”“capacityandlevelofservice,”“trafficcontrol,”and“transportationplanning”and“environmen- talimpacts.”Thismakesitpossibletointegratethematerialbetterandfacilitatesthehighlightingofthe similaritiesanddifferencesamongthemethodologiesandmodelingapproachesusedforeachmode. xix xx Foreword Themajor common themes arethemselves arranged inalogical sequence,sothatthe reader can progress from an understanding of the “physics” of the individual elements of transportation networks—e.g., flows in a road segment, traffic light settings at an isolated intersection, capacity of a runway—to studying the performance of the networks as a whole. In this respect, the authors take great pains to emphasize the importance of considering how the pieces fit together into systems. Thebookisdefinitely“network-centric”anddiscussesthedesignoftransportationnetworks,including multi-modalones,theiroptimizationattheplanninglevelandtheoperationslevel,theircontrolinthe longrun(“demandmanagement”)andinrealtime,andtheeconomicsandenvironmentalimpactsof the different modes. Thecenterpieceofthebooklies,Ibelieve,inthepresentationoffundamentalmodels,i.e.,math- ematicalabstractionsandconstructsthatareusedtorepresentessentialfeaturesofactualtransportation systems.Inthetransportationfield,wearefortunateatthispointtohaveanabundanceofsuchmodels. Astheauthorsmakeclear,theappropriatemodeltousedependsonthequestionsthatonewishesto answer.Any given transportationsystem can be modeled inseveral different ways, accordingtothe questionathand.Onecanhavemodelsthatare:deterministicorprobabilistic/stochastic,dependingon theextenttowhichonewishestoaccountforuncertainty;staticordynamicovertime;macroscopicor microscopic depending on the level of detail one wishes to capture; and analytically based or simulation-baseddependingonthemethodologyused—withnumerousadditionalsubcategorieswhen it comes to analytical models. The reader will find all these types of models in different parts of this book. Duringthesecondhalfofthe20thcentury,studiesintransportationengineeringandtransportation science made huge strides toward developing a knowledge base of methodologies and models for studying,quantifying,andpredictingthebehavioroftransportationsystems.Asaresult,wenowhave amuchbetterunderstandingofhowtoplan,design,manage,andoperatetransportationnetworks.The firsttwodecadesofthe21stcenturyhaveaddedtothisarsenaloftoolstheabilitytocollectandprocess, ofteninrealtime,enormousamountsofdataaboutthestateoftransportationnetworks.However,to takefulladvantageofthisnewfoundcapability,onemustbefamiliarwiththisknowledgebaseofmeth- odologies and models. This book, I believe, makes an important contribution toward providing this crucialbackgroundforstudentsandprofessionalsalike,includingamuch-neededhistoricalperspec- tive. Iam quite certain that the readers will agreewith thisassessment. Amedeo R.Odoni T.WilsonChairProfessorEmeritusofAeronauticsandAstronautics ProfessorEmeritusofCivilandEnvironmentalEngineering MassachusettsInstituteofTechnology March2016 Whenonceyouhavetastedflight,youwillforeverwalktheearthwithyoureyesturnedskyward,for thereyouhavebeen,andthereyouwillalwayslongtoreturn. LeonardodaVinci Preface Jointwritingabookisnotasimpletask.Itissimilartoplayingthepianowithfourhands.Wemet, forthefirsttime,in1974,attheUniversityofBelgrade,Serbia,whenthefirstauthorwasateaching assistant,andanotherundergraduatestudent.Wehadadifferentprofessionalcareersinthecountriesin which we lived. During occasional meetings, we have been strengthened in our belief that we have similarviewsonimportanttransportationengineeringissues.Duringourprofessionalcareers,wewere professors, andvisitingscholarsat the universities inEurope, the United States, andAsia. Formanyyears,wehavebeenstudyingfascinatingtrafficphenomena.Wethought,atonepoint, thatitwastimetowriteourbookabouttransportationengineeringfundamentals.Westronglybelieve thateachnewbookinacertainareaopensupnewviewstothereader.Wehavetriedinthisbookto touch on urban and road transportation, air transportation, railways, inland water transportation, and logistics. This book begins with the story about the earliest discovered paths, made by animals, and adapted by humans, found near Jericho, and arrives at the issues related to the autonomous car (self-drivingcar,driverlesscar,roboticcar)thatarenowaroundus.Thefollowingisabriefdescription of the book chapters. Chapter2introducesthe readertothefieldoftransportationengineering.Thechapter coversthe historyoftransportation,offersbasicdefinitionsandclassificationofthetransportationsystems,and describesthemostimportanttransportationsystemsissues:planning,control,congestion,safety,and environment protection. Chapter3dealswithtrafficandtransportationanalysistechniques.Thischaptercoversobjectmo- tionandtime-spacediagrams,transportationnetworksbasics,mathematicalprogrammingapplications in traffic and transportation, the relationship between the probability theory and traffic phenomena, queueingtheory,simulationtechniques, and computational intelligence techniques. Chapter4coverstrafficflowtheorybasics.Thechapterdescribesmeasurementsofthebasicflow variables,speed-densityrelationship,flow-densityrelationship,speed-flowrelationship,fundamental diagram of traffic flow, micro-simulation traffic models, car following models, and network flow diagram. Chapter5involvescapacityandlevelofserviceofdifferenttransportationmodes(highways,urban transit systems, urban freight transport systems, rail interurban transport systems, inland waterway freight/cargo transport systems, maritime freight/cargo transport systems, air transport systems, and air traffic control systems). Chapter6describestrafficcontroltechniquesrelatedtotheroad,rail,andairtrafficcontrolsystems. Thechaptercoversavarietyoftrafficcontrolmeasures,methods,andstrategiesthatshouldbeimple- mented inorder touse the existing transportation infrastructure optimally. xxi xxii Preface Chapter 7 deals with public transportation systems. The chapter describes public transportation basics, public transit network types, public transit network design, vehicle scheduling in public transit,publictransitplanningprocess,demand-responsivetransportationsystems,andairtransporta- tion basics. Chapter8coverstransportationplanningmethodsandtechniques.Thechapterdescribestranspor- tation demand modeling, the four step planning procedure (trip generation, trip distribution, modal split,androutechoice),Wardrop’sprinciplesandtrafficnetworksequilibriumconditions,theBraess paradoxandtransportationcapacityexpansions,dynamictrafficassignmentproblems,transportation demand analysisbased on discrete choicemodels, and activity-based travel demand models. Chapter 9 describes relationship between logistic systems and transportation. The chapter elabo- rates principles and techniques of city logistics (distribution of goods from warehouses to shops andsupermarkets,emergencyservices,wastecollection,streetcleaningandsweepinginonecity).This chapter covers basics of location theory, andvehicle routing and scheduling techniques. Chapter10involvesbasictransportationeconomicsconcepts(fixedandvariablecostsintranspor- tation,economiesofscale,relationshipbetweendemandandsupply,infrastructurecosts,etc.).Trans- portationeconomicsconcepts and methods are described for everytransportationmode. Chapter11dealswiththeimpactsoftransportationsystemsonsocietyandtheenvironment.There iscontinuousconstruction,expansion,andmaintenanceofthetransportationsystemsintheworld.Dif- ferenttransportationsystemshaveenormousimpactsonenergyuse,air,waterandsoilquality,noise level,landuse,andnatureconservation.Chapter11analyzesthedirectimpactsoftransportationsys- tems onthesocietyandenvironment,andtheir costs/externalities.Themajorimpactsonthesociety takenintoaccountincludecongestion,noise,andtrafficincidents/accidents(ie,safety).Themainim- pacts on the environment considered involve the energy/fuel consumption and related emissions of GHG (Green HouseGases), land use, and waste. Considering the importance that transportation has onhumansocietyandenvironment,Chapter11containsmaterialthatexceedstheboundariesofuni- versitytextbooks.ThematerialgiveninChapter11isrelatedtotheideasofchangingregulationand standards in the transportation sector, behavioral change of the participants in transportation (more pedestrian and bicycle transportation), as well as appearance of the new vehicle types and new fuel technologies. Thebookisplannedforusebystudentsattheseniorundergraduatelevel,andatthegraduatelevel, interested in transportation engineering,civil engineering, city and regional planning, urban geogra- phy,economics,publicadministration,andmanagementscience.Webelievethatthebookcouldalso be useful for self-study,as well asfor professionalsworking inthe area of transportation. Thejourneyofwritingthisbookwasmorethanexciting.Wetried,allthetime,tofindabalance betweentheexplanationofthetrafficphenomena,mathematicalrigor,andreal-worldexamples.We believe that the new generations of traffic engineers and planners will be more capable of reducing energyconsumptionandemissionsfromthetransportationsystems.Westronglybelievethatthefuture oftransportationisthe“greentransportation.”Itis,inaway,thebasicmessageofourbook.Themain motivationforwritingthisbookisthedesiretosendthismessagetomanyyoungpeopleintheworld who are beginning to deal with complex transportationengineering problems. Dusˇan Teodorovic´ Milan Janic´ Acknowledgments Fewpeoplehavecontributedtothedevelopmentofthisbook.Oursinceregratitudegoestoouryoung colleaguesDr.MilicaSˇelmic´,andDr.MilosˇNikolic´oftheFacultyofTrafficandTransportEngineer- ingoftheUniversityofBelgrade(Belgrade,Serbia),whoreadpartsofthemanuscriptandhelpedusin the technical preparation of the manuscript for the press. We would also like to thank Ph.D. student AleksandarJovanovic´forhistechnicalsupport.WewouldalsoliketoexpressourgratitudetoProfes- sorBartvanArem,ChiefofDepartmentTransport&PlanningoftheFacultyofCivilEngineeringand GeosciencesoftheDelftUniversityofTechnology(Delft,TheNetherlands)forprovidingconditions forefficientworkonthisbook.Lastbutnotleast,theencouragementofKennethP.McCombs,Senior Acquisitions EditorofElsevier, isalso greatly appreciated. xxiii
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