Table Of ContentTransportation Engineering
Theory, Practice, and Modeling
Transportation Engineering
Theory, Practice, and Modeling
Dusˇan Teodorovic´
University ofBelgrade
Milan Janic´
Delft University ofTechnology
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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
