AUTOMATED TRANSIT IEEE Press 445 Hoes Lane Piscataway, NJ 08854 IEEE Press Editorial Board Tariq Samad, Editor in Chief George W. Arnold Xiaoou Li Ray Perez Giancarlo Fortino Vladimir Lumelsky Linda Shafer Dmitry Goldgof Pui-In Mak Zidong Wang Ekram Hossain Jeffrey Nanzer MengChu Zhou Kenneth Moore, Director of IEEE Book and Information Services (BIS) AUTOMATED TRANSIT Planning, Operation, and Applications RONGFANG (RACHEL) LIU Copyright © 2017 by The Institute of Electrical and Electronics Engineers, Inc. Published by John Wiley & Sons, Inc., Hoboken, New Jersey. All rights reserved. Published simultaneously in Canada. No part of this publication may be reproduced, stored in a retrieval system, or transmitted in any form or by any means, electronic, mechanical, photocopying, recording, scanning, or otherwise, except as permitted under Section 107 or 108 of the 1976 United States Copyright Act, without either the prior written permission of the Publisher, or authorization through payment of the appropriate per-copy fee to the Copyright Clearance Center, Inc., 222 Rosewood Drive, Danvers, MA 01923, (978) 750-8400, fax (978) 750-4470, or on the web at www.copyright.com. Requests to the Publisher for permission should be addressed to the Permissions Department, John Wiley & Sons, Inc., 111 River Street, Hoboken, NJ 07030, (201) 748-6011, fax (201) 748-6008, or online at http://www.wiley.com/go/permission. Limit of Liability/Disclaimer of Warranty: While the publisher and author have used their best efforts in preparing this book, they make no representations or warranties with respect to the accuracy or completeness of the contents of this book and specifically disclaim any implied warranties of merchantability or fitness for a particular purpose. No warranty may be created or extended bysales representatives or written sales materials. The advice and strategies contained herein may not be suitable for your situation. You should consult with a professional where appropriate. Neither the publisher nor author shall be liable for any loss of profit or any other commercial damages, including but not limited to special, incidental, consequential, or other damages. For general information on our other products and services or for technical support, please contact our Customer Care Department within the United States at (800) 762-2974, outside the United States at (317) 572-3993 or fax (317) 572-4002. Wiley also publishes its books in a variety of electronic formats. Some content that appears in print may not be available in electronic formats. For more information about Wiley products, visit our web site at www.wiley.com. Library of Congress Cataloging-in-Publication Data is available. ISBN: 978-1-118-89100-1 Printed in the United States of America 10987654321 This book is dedicated to the three men in my life: ZHONG: My rock, who supports anything I am willing to explore; LYNDALL: My conscious, who shows me that there might be another side to any story; CHARLIE: My lucky star, who makes me believe that there are always roads under my feet … CONTENTS FOREWORD xi PREFACE xiii ACKNOWLEDGMENTS xv ABBREVIATIONS xvii 1 INTRODUCTION 1 1.1 Automated Transportation / 2 1.2 Automated Transit / 4 1.3 Individual Modes of Automated Transit Family / 8 1.3.1 Automated Guideway Transit / 8 1.3.2 Automated Bus / 14 1.3.3 Automated Personal Transit / 15 References / 18 2 HISTORICAL DEVELOPMENT 23 2.1 Conceptual Initiations: 1960s and Prior / 23 2.2 Pilot Demonstrations: 1970s–1980s / 27 2.3 Applications in Confined Environments: 1990s–2000s / 32 vii viii CONTENTS 2.4 Multipolar Development: New Millennium and Beyond / 36 2.4.1 Exponential Growth of Driverless Metros / 36 2.4.2 Steady Expansion of APM Systems / 39 2.4.3 Emergence of PRT Applications / 39 References / 44 3 TECHNOLOGY SPECIFICATIONS 47 3.1 Vehicles / 48 3.2 Guideway / 51 3.3 Propulsion and System Power / 52 3.4 Communications and Control / 53 3.5 Stations and Platforms / 55 3.6 Maintenance and Storage Facilities / 58 References / 61 4 APPLICATIONS 63 4.1 Driverless Metro in Paris / 64 4.1.1 Clean Slate of Automation: Line No. 14 / 64 4.1.2 Conversion from Manual to DLM: Paris Metro Line No. 1 / 67 4.2 Automated LRT in Singapore / 70 4.3 Detroit Downtown People Mover / 72 4.4 Automated People Movers in Las Vegas / 74 4.5 Dallas-Fort Worth Airport APM / 79 4.6 AirTrain at JFK Airport / 80 4.7 Morgantown Group Rapid Transit / 81 4.8 Ultra PRT at Heathrow International Airport / 84 References / 86 5 CHARACTERISTICS OF AUTOMATED TRANSIT APPLICATIONS 89 5.1 System Characteristics / 89 5.1.1 Physical Layouts / 90 5.1.2 Scale of Systems / 94 CONTENTS ix 5.2 Operating Characteristics / 96 5.2.1 Operating Strategies / 97 5.2.2 Station Operations / 99 5.2.3 System Capacity / 101 5.3 Financial Characteristics / 103 5.3.1 Capital Investment / 104 5.3.2 Operating Expenses / 107 5.3.3 Life Cycle Cost / 110 References / 111 6 ASSESSMENT OF AUTOMATED TRANSIT PERFORMANCES 115 6.1 System Performance / 115 6.2 Reliability / 119 6.3 Safety and Security / 126 6.3.1 Safety Records for Automated Guideway Transit / 126 6.3.2 Comparison with Other Guideway Transit / 129 6.4 Cost-Effective Analysis / 133 References / 136 7 PLANNING CONSIDERATIONS 139 7.1 Public Policy / 142 7.1.1 Research / 142 7.1.2 Design Standards / 143 7.1.3 National Policy / 144 7.2 Long-Range Transportation Planning / 145 7.2.1 Trip Generation / 147 7.2.2 Trip Distribution or Destination Choice Module / 148 7.2.3 Mode and Occupancy Choice Module / 149 7.2.4 Trip Assignment Module / 150 7.3 Operations Planning / 151 References / 154 8 BUSINESS MODELS FOR AUTOMATED TRANSIT APPLICATIONS 157 8.1 Public Owner and Operator / 159 8.2 Private Owner and Operator / 162 x CONTENTS 8.3 Public and Private Partners / 166 References / 170 9 LESSONS LEARNED 173 9.1 Driving Can Be Replaced / 174 9.2 Public Policy: A Double-Edged Sword / 175 9.3 Design Matters / 177 9.4 Demonstration Projects are Needed / 178 References / 180 10 FUTURE DIRECTIONS 181 10.1 Grow Automated Transit Applications / 182 10.2 Create New Mode / 183 10.3 Conduct Further Research / 185 10.4 Sponsor Demonstration Projects / 187 10.5 Develop Performance Measures / 188 10.6 Encourage Diverse Business Models / 189 10.7 Gather Public Support / 191 References / 194 INDEX 197 FOREWORD The science of automated transit is relatively young. Although people have explored travel options since the early days of history, it is only in the last 50 years or so that engineers and scientists have unveiled transportation options that are fully automated. From driverless autos to personal rapid transit designs to full-functioning extended people mover systems, we are learning to give up the driver’s seat and trust the power of smart technology. When we began Lea+Elliott in the 1970s, specializing in automated people movers was an anomaly. Some engineers could not understand why we would focus on such a niche market. At that time, the industry was mostly focused on transporting passengers quickly, safely, and efficiently between terminals in large airports. Today, as we work on nearly every people mover system in the world, we know that the early technology provided the impetus for systems that are literally changing how we think about travel. For example, consider Honolulu, HI. Today, the City and County of Honolulu, in cooperation with the Federal Transit Administration (FTA), is implementing a 20-mile-long automated metro rail system that will serve 21 passenger stations. It will be the first automated metro light rail system in the United States since JFK AirTrain and will truly change lives for people within its reach. In such a rapidly changing transit environment, Dr. Rongfang (Rachel) Liu is the logical person to create this book on the state of automated transit— and to show where it will lead us in the days to come. As a professional engineer, licensed planner, and professor in the Department of Civil and Environmental Engineering at New Jersey Institute of Technology, Dr. Liu brings so much more to the transit discussion. Her vast research has been xi xii FOREWORD published in many books, book chapters, and transportation journals. Her additional skills in modeling and expertise in intermodal research further round out her understanding of this complex and multi-faceted transportation technology. I trust that her knowledge and perspective, provided in these pages, will offer insights to help you better understand the sophisticated systems that make automated transit so fascinating. Her thoughts may well spur your thoughts which just might take automated transit technology to the next level. Enjoy! Jack Norton President/CEO Lea+Elliott, Inc. Dallas/Fort Worth, TX PREFACE The idea for this book was conceived a few years ago when I wrote a book chapter titled “The Spectrum of Automated Guideway Transit and Its Appli- cations,” which is published in the Handbook of Transportation Engineering (Kutz, 2011). I have accumulated a large amount of information and felt that there are so much more can be said but has not been included in the chapter due to the length limit. In fact, so much was misunderstood or misconstrued for automated guideway transit (AGT) all together for the past half of a century. As the Committee Chair for AP040: Automated Transit Systems (ATS), Transportation Research Board (TRB), I have been working with my commit- tee members and an array of stakeholders, which include transit and Airport Automated People Mover (AAPM) operators, local and federal government agencies, and private entities such as Google, CarShare Inc., and Ride Scott. Continuing dialogs among the automated transit community made the critical needs paramount.