Adding Transit to an Agent-Based Transportation Simulation Concepts and Implementation
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Marcel Rieser Master of Science in Computer Science, ETH Zurich Adding Transit to an Agent-Based Transportation Simulation Concepts and Implementation PhD Thesis June 2010 Adding Transit to an Agent-Based Transportation Simulation Concepts and Implementation vorgelegt von Dipl. Inf.-Ing. ETH Marcel Rieser aus Affeltrangen (TG), Schweiz von der Fakultät V, Verkehrs- und Maschinensysteme der Technischen Universität Berlin zur Erlangung des akademischen Grades eines Doktor-Ingenieurs (Dr.-Ing.) Gutachter: Prof. Dr. Kai Nagel VSP, TU Berlin Prof. Dr. Kay W. Axhausen IVT, ETH Zürich Contents Abstract ix Kurzfassung xi 1 Introduction 1 2 Public Transportation Systems 5 2.1 Definitions .................................. 5 2.2 Public Transportation in Developed Countries ................... 6 2.2.1 Overview ............................... 6 2.2.2 Data Requirements ........................... 7 2.3 Public Transportation in Developing Countries ................... 8 2.3.1 Overview ............................... 8 2.3.2 Data Requirements ........................... 9 3 Related Work 11 3.1 Transportation Simulation in General ....................... 11 3.2 Multi-Modal and Transit Simulation ....................... 12 3.2.1 Transit Assignment ........................... 13 3.2.2 Multimodal Route Choice ......................... 13 3.2.3 Operational Simulation ......................... 15 3.2.4 Multi-Modal Simulation ......................... 15 4 Agent-Based Transportation Simulation 17 4.1 Overview .................................. 17 4.2 Controler .................................. 20 4.3 Initial Demand ................................ 22 4.4 Traffic Flow Simulation ............................. 23 4.4.1 Overview ............................... 23 4.4.2 Flow Dynamics ............................. 24 4.4.3 Interaction of Vehicles, Persons and Network ................ 25 i Contents 4.4.4 Gridlock Prevention ........................... 28 4.5 Events ................................... 28 4.6 Scoring ................................... 31 4.7 Replanning ................................. 32 4.7.1 Overview ............................... 32 4.7.2 Plan Selectors ............................. 33 4.7.3 Replanning Modules .......................... 34 4.7.4 Typical Usage ............................. 36 4.8 Analyses .................................. 37 4.9 Optimizations ................................ 38 4.9.1 Simulation of Samples ......................... 38 4.9.2 Simulating Active Regions Only ...................... 39 4.9.3 Multi-Threading ............................ 39 4.9.4 Compressing Route Information ...................... 40 5 Road Pricing Case Study 43 5.1 Introduction ................................. 43 5.2 Scenario ................................... 44 5.3 Results ................................... 45 5.4 Conclusions ................................. 46 6 Simple Transit Integration 49 6.1 Mode Choice Model .............................. 49 6.1.1 Generating Non-Car Plans ........................ 49 6.1.2 Handling Non-Car Plans in the Transportation Simulation ........... 50 6.1.3 Scoring Non-Car Plans .......................... 50 6.1.4 Replanning With Non-Car Plans ...................... 50 6.2 Test Scenario ................................ 51 6.2.1 Network ............................... 51 6.2.2 Initial Plans .............................. 51 6.2.3 Behavioral Parameters ......................... 52 6.2.4 Simulation Results ........................... 52 6.3 Theoretical Calculations ............................ 53 6.3.1 The Non-Car Mode ........................... 53 6.3.2 The Car Mode ............................. 53 6.3.3 The Complete Mode Choice ........................ 55 6.4 Large-Scale Application ............................ 56 6.5 Further Steps ................................ 59 6.6 Conclusion .................................. 59 7 Design of the Agent-Based Transit Simulation 61 7.1 Goals and Features .............................. 61 7.2 Data .................................... 62 7.2.1 Network ............................... 62 ii Contents 7.2.2 Population and Routes ......................... 63 7.2.3 Transit Schedule ............................ 64 7.2.4 Additional Transit Data ......................... 66 7.3 Traffic Flow Simulation ............................. 66 7.3.1 Overview ............................... 66 7.3.2 Initialization .............................. 67 7.3.3 Handling Stops ............................ 68 7.3.4 Handling Transit Rides ......................... 70 7.4 Transit Router ................................ 72 7.4.1 Overview ............................... 72 7.4.2 Transit Network Generation ....................... 73 7.4.3 Least-Cost Path Calculation ....................... 74 7.4.4 Integration .............................. 76 7.5 Mode Choice During Replanning ......................... 77 7.6 Transit Controler ............................... 78 7.7 Transit Analyses ............................... 78 8 Applications 81 8.1 Illustrative Examples ............................. 81 8.1.1 AccessEgressDemo ........................... 81 8.1.2 BlockingStopDemo ........................... 83 8.1.3 TwoLinesDemo ............................. 84 8.1.4 PseudoNetworkDemo .......................... 86 8.2 Large-scale Application ............................ 87 8.2.1 The Zurich Scenario ........................... 87 8.2.2 Data Preparation ............................ 88 8.2.3 Running the Simulation ......................... 91 8.2.4 Transit Simulation Outcome ....................... 91 8.2.5 Sensitivity Study ............................ 96 8.2.6 Performance analysis .......................... 98 8.3 Conceptual Applications ............................ 100 8.3.1 Paratransit .............................. 100 8.3.2 Ride Sharing .............................. 101 8.3.3 Car Sharing .............................. 102 8.3.4 Automatic Transportation Systems .................... 102 9 Conclusion 105 9.1 Outlook ................................... 105 9.2 Summary .................................. 108 Acknowledgements 109 Bibliography 122 Appendices 123 iii Contents A Files in MATSim 125 B Transit Schedule 127 B.1 transitSchedule_v1.dtd ............................ 127 B.2 Example ................................... 128 C Maps 131 C.1 Switzerland ................................. 132 C.2 Area of Zurich ................................ 133 C.3 South of City of Zurich ............................ 134 D ZVV Maps 135 D.1 Complete Area of Operations .......................... 136 D.2 City of Zurich ................................ 137 iv List of Figures 1.1 Road infrastructure in Portland, OR ....................... 2 4.1 Mental and physical world must be considered in a transportation simulation .... 18 4.2 An example of a person and its day plan, encoded in a MATSim-specific XML format .. 19 4.3 The building blocks of the Multi-Agent Transportation Simulation (MATSim) ...... 20 4.4 Extension points offered by the MATSim-Controler ................ 22 4.5 UML sequence diagram of the messages passed between QueueSimulation and DriverAgent 26 4.6 Messages passed for a single step of the simulation ............... 27 4.7 Events created by the traffic flow simulation when executing a single agent's day plan 30 4.8 Only links deviating from the follow-up link are stored in compressed routes ..... 41 5.1 Switzerland network and toll links for Zurich .................. 44 5.2 Travel speeds at 5:30pm during the toll time on the network ........... 45 5.3 Travel speeds at 8am when no toll has to be paid ................ 46 5.4 Number of departures and travelers on the road ................. 47 6.1 The links of the test network with their corresponding ids and attributes ...... 51 6.2 Car share vs. non-car travel marginal disutilities ................. 56 6.3 Comparison of simulated traffic volumes with real-world counts .......... 57 6.4 Car en route in large-scale scenario over time of day with different marginal disutilities for traveling with non-car modes. ....................... 58 6.5 Number of agents departing per 15 min over time of day. ............. 58 7.1 Example, how a physical intersection could be encoded in the network model. .... 63 7.2 Entity-Relationship (ER) model of the transit schedule data structure ........ 65 7.3 Sequence diagram of the relevant parts for handling transit stops ......... 69 7.4 Sequence diagrams of the relevant parts for handling transit rides ......... 71 7.5 Generation of the Transit Router Network .................... 73 7.6 Modification of a plan by the transit router ................... 77 8.1 Route-Time diagram of the transit vehicles in the access-egress demo ........ 82 v List of Figures 8.2 Network and stop locations for the blocking-stop example ............ 83 8.3 Screenshot from the visualization of the blocking-stop example .......... 84 8.4 Travel times for each link over the lapse of time ................. 85 8.5 Network and stop locations for the two-lines example .............. 85 8.6 Number of passengers traveling between the stops along the two transit lines ... 86 8.7 Generated Pseudo-Network from a transit schedule containing two uni-directional lines 87 8.8 Home locations of the 1.8 million agents used in the simulation .......... 89 8.9 Road network used in large-scale application .................. 89 8.10 Transit network used in large-scale application .................. 89 8.11 Cutouts of the different networks used to generate the network used for simulation . 90 8.12