1. http://www.verkehrswissenschaften.org Institute for Traffic Telematics  Chair of Traffic Control and Process Automation MOVING THE WORLD. Faculty of Transportation and Traffic Sciences "Friedrich List" Enhanced transport quality and tramway energy efficiency by multi-modal traffic management systems Christian Gassel, Dipl.-Ing. Faculty of Transportation and Traffic Sciences „Friedrich List“, TU Dresden

2. Slide 2 Enhanced transport quality and tramway energy efficiency by multi-modal traffic management systems Christian Gassel Brisk demand for Intelligent Transport Systems (ITS) within the last years “ Intelligent Transport Systems can significantly contribute to a cleaner, safer and more efficient transport system” [European Commission Mobility and Transport] Broad support for ITS by European Commission, member states and local authorities  ICT Work Programmes  ITS Action Plan COM(2008)886 and Directive 2010/40/EU  National Research Programmes  …  Background

3. Slide 3 Enhanced transport quality and tramway energy efficiency by multi-modal traffic management systems Christian Gassel  Background Road Traffic Management Payment Systems Traveller Information Vehicle Safety Vehicle Electronics Freight and Commercial Transport Public Transport Operation Intelligent Road Infrastructure

4. Slide 4 Enhanced transport quality and tramway energy efficiency by multi-modal traffic management systems Christian Gassel  Background Road Traffic Management Traveller Information Vehicle Electronics Freight and Commercial Transport Public Transport Operation Intelligent Road Infrastructure Payment Systems Vehicle Safety

5. Slide 5 Enhanced transport quality and tramway energy efficiency by multi-modal traffic management systems Christian Gassel ITCS (Intermodal Transport Control System) - Locate and dispatch vehicle fleet - Passenger Information Services ITCS (Intermodal Transport Control System) - Locate and dispatch vehicle fleet - Passenger Information Services  Background TCC (Traffic Control Centre) - Road traffic condition monitoring - Derive measures to improve traffic flow TCC (Traffic Control Centre) - Road traffic condition monitoring - Derive measures to improve traffic flow ITCS and TCC Systems – both used to save high transport quality

6. Slide 6 Enhanced transport quality and tramway energy efficiency by multi-modal traffic management systems Christian Gassel ITCS (Intermodal Transport Control System) - Locate and dispatch vehicle fleet - Passenger Information Services ITCS (Intermodal Transport Control System) - Locate and dispatch vehicle fleet - Passenger Information Services  Background Intermodal Transport Control System TCC (Traffic Control Centre) - Road traffic condition monitoring - Derive measures to improve traffic flow TCC (Traffic Control Centre) - Road traffic condition monitoring - Derive measures to improve traffic flow

7. Slide 7 Enhanced transport quality and tramway energy efficiency by multi-modal traffic management systems Christian Gassel ITCS (Intermodal Transport Control System) - Locate and dispatch vehicle fleet - Passenger Information Services ITCS (Intermodal Transport Control System) - Locate and dispatch vehicle fleet - Passenger Information Services  Background Intermodal Transport Control System Dresden ITCS System:  Monitoring of 12 tramway routes and 28 bus routes

8. Slide 8 Enhanced transport quality and tramway energy efficiency by multi-modal traffic management systems Christian Gassel Traffic Control Centre  Background TCC (Traffic Control Centre) - Road traffic condition monitoring - Derive measures to improve traffic flow TCC (Traffic Control Centre) - Road traffic condition monitoring - Derive measures to improve traffic flow ITCS (Intermodal Transport Control System) - Locate and dispatch vehicle fleet - Passenger Information Services ITCS (Intermodal Transport Control System) - Locate and dispatch vehicle fleet - Passenger Information Services

9. Slide 9 Enhanced transport quality and tramway energy efficiency by multi-modal traffic management systems Christian Gassel Traffic Control Centre  Background TCC (Traffic Control Centre) - Road traffic condition monitoring - Derive measures to improve traffic flow TCC (Traffic Control Centre) - Road traffic condition monitoring - Derive measures to improve traffic flow Dresden TCC System - traffic flow detection single- and multi-induction loops, infra-red and video detection, taxi FCD (about 1200 sensors) -Traffic control & information changable traffic signs, parking information,…

10. Slide 10 Enhanced transport quality and tramway energy efficiency by multi-modal traffic management systems Christian Gassel ITCS (Intermodal Transport Control System) - Locate and dispatch vehicle fleet - Passenger Information Services ITCS (Intermodal Transport Control System) - Locate and dispatch vehicle fleet - Passenger Information Services  Background TCC (Traffic Control Centre) - Road traffic condition monitoring - Derive measures to improve traffic flow TCC (Traffic Control Centre) - Road traffic condition monitoring - Derive measures to improve traffic flow  TCC with poor knowledge of Public Transport issues Project approach: Improve traffic quality by differentiated priorities at traffic lights depending on -Private transport conditions -Punctuality of Public Transport -Dynamic connection services and reduce energy consumption of trams

11. Slide 11 Enhanced transport quality and tramway energy efficiency by multi-modal traffic management systems Christian Gassel ITCS Priority decision system Priority decision system Current road traffic situation Traffic Control Centre Public transport approaching model Public transport approaching model Bus/tramway positioning data Public transport approaching prognosis Traffic flow detection Traffic flow detection Multi-modal interface module  Multimodal System Architecture Multimodal System Architecture

12. Slide 12 Enhanced transport quality and tramway energy efficiency by multi-modal traffic management systems Christian Gassel -7-stage-priority system for each public transport vehicle approaching an intersection Punctuality Headway regularity Connection services Private transport conditions (LOS A…F) Simplified example:  Tram delayed and LOS A/B for road traffic: High priority for tram  Tram before schedule: Low tram priority -Commutation into realizable modifications of the ordinary signal timing plan Modification options given by Urban Road Department  Modifications coded in traffic light login-telegrams and interpreted by traffic light controllers Priority Decision System  Multimodal System Architecture TCC ITCS

13. Slide 13 Enhanced transport quality and tramway energy efficiency by multi-modal traffic management systems Christian Gassel ITCS Priority decision system Priority decision system Traffic light controller Traffic light controller Current road traffic situation Traffic Control Centre Time remaining until next green stage Dynamic connection services Public transport approaching modell Public transport approaching modell Bus/tramway positioning data Public transport approaching prognosis Traffic flow detection Traffic flow detection Traffic computer Multi-modal interface module  Multimodal System Architecture

14. Slide 14 Enhanced transport quality and tramway energy efficiency by multi-modal traffic management systems Christian Gassel 3. Energy-Efficient Light-Rail Control Acceleration Braking Cruising Coasting Speed Position Find switching points between the regimes ensuring on time arrival at next target point -Driver Advisory Systems already used in railways and metro systems (savings: 5-10%) -Maximum Principle of Pontryagin useful for Light-Rail / Tramway environment - Arrival time at the next tramway stop - Green stage at the next traffic light Theoretically and practically proved: Horn/Strobel (1974); Kraft/Schnieder (1981); Howlett (1994); Sanftleben (2002); Albrecht (2006)  Energy-Efficient Light-Rail Control

15. Slide 15 Enhanced transport quality and tramway energy efficiency by multi-modal traffic management systems Christian Gassel Traffic lights t min Minimum contraint for the solution space: minimum running time  Energy-Efficient Light-Rail Control

16. Slide 16 Enhanced transport quality and tramway energy efficiency by multi-modal traffic management systems Christian Gassel Traffic lights t min +5s  Energy-Efficient Light-Rail Control

17. Slide 17 Enhanced transport quality and tramway energy efficiency by multi-modal traffic management systems Christian Gassel Traffic lights t min +30s  Energy-Efficient Light-Rail Control

18. Slide 18 Enhanced transport quality and tramway energy efficiency by multi-modal traffic management systems Christian Gassel Human Engineering Aspects Dynamic signalling scenarios -High distraction risk when giving a large variety of information -Advice: departure, cruising (only below maximum speed), coasting -v cr,min >0,5*v max ! Speed Position  Energy-Efficient Light-Rail Control

19. Slide 19 Enhanced transport quality and tramway energy efficiency by multi-modal traffic management systems Christian Gassel 4. Case Study Nürnberger Platz  Case Study Nürnberger Platz 4 4 17 Prag Berlin Leipzig/ Chemnitz Leipzig/ Chemnitz

20. Slide 20 Enhanced transport quality and tramway energy efficiency by multi-modal traffic management systems Christian Gassel 4. Case Study Nürnberger Platz  Case Study Nürnberger Platz 61 3 3 8 8 ADT major road: 28000 vehicles ADT minor road: 10000 vehicles 3 PT lines (3, 8, 61) Connection service (8 › 61) Traffic Control: Vehicle actuated, partly restricted

21. Slide 21 Enhanced transport quality and tramway energy efficiency by multi-modal traffic management systems Christian Gassel Driving Behaviour Analysis  Case Study Nürnberger Platz - Data collection by Dresden Measuring Tram (in ordinary operation) 5-year data collection: - Lateral, longitudinal and vertical acceleration - Longitudinal position - Speed - Voltage at pantograph - Total vehicle current - Braking power - Status track brake - GPS-signal … Source: DVB AG(2009)

22. Slide 22 Enhanced transport quality and tramway energy efficiency by multi-modal traffic management systems Christian Gassel 6005004003002001000 0 10 20 30 40 50 60 v-s-Diagram Distance to Nürnberger Platz /m Velocity /km/h Line 8 Direction Südvorstadt REI FLP NUP  Case Study Nürnberger Platz NUP p stop = 65…100%

23. Slide 23 Enhanced transport quality and tramway energy efficiency by multi-modal traffic management systems Christian Gassel 600 500 400 300 200 1000 0 10 20 30 40 50 60 v-s-Diagram Distance to Nürnberger Platz /m Velocity /km/h -100-80-60-40-200 0 10 20 30 40 50 60 v-t-Diagram Time /s Velocity /km/h 600 500 400 300 200 1000 -100 -80 -60 -40 -20 0 t-s-Diagramm Distance to Nürnberger Platz /m Time /s -100-80-60-40-200 -200 -100 0 100 200 300 400 P-t-Diagramm Power at Pantograph /kW Time /s Measurement Tram Data Analysis No Recuperation Recuperation Time loss at traffic lights REI NUP Stopping time at stop Reichenbachstraße Unnecessary stop at traffic lights  Case Study Nürnberger Platz

24. Slide 24 Enhanced transport quality and tramway energy efficiency by multi-modal traffic management systems Christian Gassel Example: - Begin green phase at signal: 61 seconds after doors have been closed at previous stop Waiting time at signal 25s Typical ride (with stop at signal) Speed restriction (switches) Maximum gradient 4,1% In practice nearly time-optimal rides (only very short coasting sections)  Case Study Nürnberger Platz REI NUP

25. Slide 25 Enhanced transport quality and tramway energy efficiency by multi-modal traffic management systems Christian Gassel Example: - Begin green phase at signal: 61 seconds after doors have been closed at previous stop Maximum gradient 4,1% Anticipatory driving Cruising below max. speed avoids stop at signal  Case Study Nürnberger Platz REI NUP

26. Slide 26 Enhanced transport quality and tramway energy efficiency by multi-modal traffic management systems Christian Gassel Anticipatory driving Cruising below max. speed avoids stop at signal Energy savings by combination of cruising and coasting: 11% Example: - Begin green phase at signal: 61 seconds after doors have been closed at previous stop  Case Study Nürnberger Platz REI NUP

27. Slide 27 Enhanced transport quality and tramway energy efficiency by multi-modal traffic management systems Christian Gassel Bus line 61 receives message to save connection service to tram line 8 extended green phase for private transport (line 61) High priority for line 8 Signal timing plan modification - second green phase for tramway COSEL speed advice for line 8 Information about dynamic connection service Passenger interchange 8 61  Case Study Nürnberger Platz

28. Slide 28 Enhanced transport quality and tramway energy efficiency by multi-modal traffic management systems Christian Gassel -First cooperative traffic signs considering full Multi-Modal Transport issues and energy efficient driving -Multimodal system in full operation from winter 2010/2011 -Extension to the whole North-South-Corridor in Dresden Conclusions and Future Work  Conclusions and Future Work 2011/12 2010/11 From 2012