Traffic Engineering Topic: Shockwave Analysis

Henry Liu CE 4211/5211 Traffic Engineering University of Minnesota email: henryliu@umn.edu

Lighthill-Whitham-Richards (LWR) Model

(1) (2) (3) q q q x kv k t f (k ) 0

Solution to Flow Continuity Equation

q x q k let c 0 c0 k k x q k k k t 0 k t , 0 0

x t G eneral solution form : k

F (x

c0t )

c 0 : slope of tangent in q-k curve (shockwave speed)

Shockwave speed is the speed of propagation of a disturbance in a traffic system.

At time: t
1 ( k1 ) x 1 ( k1 ) x 1 ( k1 ) x 1 ( k1 ) x 1 ( k1 ) x

c0
2 (k ) x 2 (k ) x 2 (k ) x 2 (k ) x 2 (k ) x

d1

d1

d1

d1

d1

d2

d2

d2

d2

Density

k1

Density

k2

2 (k 2 ) x

At time: t
(k ) x (k ) x

t
(k ) x
1 ( k1 ) x

c0

c0
1 ( k1 ) x 2 (k 2 ) x 2 (k 2 ) x 2 (k ) x 2 (k ) x

1 ( k1 ) x

d1

d1

d1

d2

d2

d2

d2

Density

k1

Density

k2

2 (k 2 ) x

c0

Control Volume moving with speed c0

c0
1 ( k1 ) x 1 ( k1 ) x 1 ( k1 ) x 1 ( k1 ) x 1 ( k1 ) x 2 (k ) x 2 (k ) x

c0

2 (k ) x

2 (k ) x

2 (k ) x

d1

d1

d1

d1

d1

d2

d2

d2

d2

Density

k1

Density

k2

c0
Flow into Control Volume: Flow out of Control Volume:

1 q

1 k1 ( x

c0 )

2 q

2 k2 ( x

c0 )

Conservation Equation
1 q 2 q

c0

1 k1 x k1
q1 k1 q2 k2
c0

2 k2 x k2

1 k1 ( x

c0 )

k2

2 (x

c0 )

c0

Control Volum e m oving with speed c 0

c0
1 ( k1 ) x 1 ( k1 ) x 1 ( k1 ) x 1 ( k1 ) x 1 ( k1 ) x 2 (k ) x 2 (k ) x 2 ( k ) x 2 (k ) x 2 (k ) x

d1

d1

d1

d1

d1

d2

d2

d2

d2

D ensity

k1

D ensity

k2

c0
Flow into Control Volum e: Flow out of Control Volum e:

1 q

1 k1 ( x

c0 )

2 q

2 k2 ( x

c0 )

c0

1 k1 x k1
Region 2

2 k2 x k2

Region 1

k2
2 (k 2 ) q2 (k 2 ) , x

k1

1 ( k1 ) q1 ( k1 ) , x

c0
6000

q1 k1

q2 k2

slope of chord betw een P oint 1 and P oin t 2

2
5000

(5000, 155)

Flow (vehicles/hour/lane)

4000

(3588, 55) 1
3000

2000

1000

0 0 50 100 Density (veh/m i/lane) 150 200 250

c0

14.12 mph

Region 2 Region 1
q1 k1 1 x 3588 veh/hr 55 veh/m i 65.2 m ph
q2 k2 2 x 5000 veh/hr 155 veh/m i 32.2 m ph

c0

5000 155

3588 55

1412 100

14.12 mph

Example 1: Slow-Moving Traffic

A 2 miles

At time t = 0 a truck, traveling at 12 mph, enters the freeway at Point A and travels along the freeway until exiting at point B, 2 miles upstream.

Flow Density Relationship

6000

(5690, 122)

5000

F lo w (veh icles/ho u r/lan e)

4000

3000

2000

1000

0 0 50 100 D ensity (veh /mi/lan e) 150 200 250

q1 k1 1 x
1 ( k1 ) x 1 ( k1 ) x 1 ( k1 ) x 1 ( k1 ) x

3588 veh/hr 55 veh/m i 65.2 m ph

1 ( k1 ) x 1 ( k1 ) x 1 ( k1 ) x 1 ( k1 ) x 1 ( k1 ) x 1 ( k1 ) x

d1

d1

d1

d1

d1

d1

d1

d1

d1

A 2 miles

Flow Density Relationship

6000

(5690, 122)

5000

F lo w (veh icles/ho u r/lan e)

4000

(3588, 55)

3000

2000

x
1000

3588 vph 55 vpm

65.2 mph

0 0 50 100 D ensity (veh /mi/lan e) 150 200 250

At t=0

q1 k1 1 x

3588 veh/hr 55 veh/m i 65.2 m ph

1 ( k1 ) x 1 ( k1 ) x 1 ( k1 ) x 1 ( k1 ) x 1 ( k1 ) x 1 ( k1 ) x

1 ( k1 ) x

1 ( k1 ) x

1 ( k1 ) x

1 ( k1 ) x

d1

d1

d1

d1

d1

d1

d1

d1

d1

d1

A 2 miles

At time t = 0 a truck, traveling at 12 mph, enters the freeway at Point A and travels along the freeway until exiting at point B, 2 miles upstream. When the truck pulls off the road, how long is the queue behind the truck?
After the truck pulls off the road, how long it takes for the queue to disappear?

Region 1
q1 k1 1 x
1 ( k1 ) x 1 ( k1 ) x 1 ( k1 ) x

3588 veh/hr 55 veh/m i 65.2 m ph

1 ( k1 ) x 1 ( k1 ) x

q2 k2 2 x

Region 2
? ? 12 m ph
2 (k ) x 2 (k ) x

q1

3588 veh/hr 55 veh/m i 65.2 m ph

1 ( k1 ) x 1 ( k1 ) x 1 ( k1 ) x

12 m ph

k1 1 x
1 ( k1 ) x

d1

d1

d1

d1

d1

d2

d1

d1

d1

d1

A 2 miles

Determining Conditions Behind Truck

6000

5000

F lo w (veh icles/h ou r/lan e)

4000

(3588, 55) 1
3000

(2304, 192)
2000

S lope = 12 m ph

1000

0 0 50 100 D en sity (veh /mi/lan e) 150 200 250

c12

3588

2304

1284 137

55 192

9.37 m ph

Region 1
q1 k1 1 x
1 ( k1 ) x 1 ( k1 ) x 1 ( k1 ) x

Region 2
q2 k2 2 x 2304 veh/hr 192 veh/m i 12 m ph
2 (k ) x 2 (k ) x

3588 veh/hr 55 veh/m i 65.2 m ph

1 ( k1 ) x 1 ( k1 ) x

q1

3588 veh/hr 55 veh/m i 65.2 m ph

1 ( k1 ) x 1 ( k1 ) x 1 ( k1 ) x

12 m ph

k1 1 x
1 ( k1 ) x

d1

d1

d1

d1

d1

d2

d1

d1

d1

d1

A 2 miles

6000

5000

Slope
Flow (vehicles/hour/lane)
4000

c12

3588

2304

1284 137

55 192

9.37 m ph

(3588, 55) 1
3000

(2304, 192)
2000

1000

0 0 50 100 Density (veh/m i/lane) 150 200 250

(12
c12 9.37 m ph

9.37) mph

21.37 mph x 12 m ph
q1 3588 veh/hr 55 veh/m i 65.2 m ph
1 ( k1 ) x 1 ( k1 ) x 1 ( k1 ) x

Region 1
q1 k1 1 x
1 ( k1 ) x 1 ( k1 ) x 1 ( k1 ) x

Region 2
q2 k2 2 x 2304 veh/hr 192 veh/m i 12 m ph
2 (k ) x 2 (k ) x

3588 veh/hr 55 veh/m i 65.2 m ph

1 ( k1 ) x 1 ( k1 ) x

12 m ph

k1 1 x
1 ( k1 ) x

d1

d1

d1

d1

d1

d2

d1

d1

d1

d1

A 2 miles

QueueLength

(21.37mph) (0.167hr)

3.57mi

At tim e t

2 mi 12 m ph
c12

0.167 hr

10 m in

9.37 m ph

Region 1
q1 k1 1 x
1 ( k1 ) x 1 ( k1 ) x 1 ( k1 ) x

Region 2
q2 k2 2 x
1 ( k1 ) x

Region 3

3588 veh/hr 55 veh/m i 65.2 m ph

1 ( k1 ) x

2304 veh/hr 192 veh/m i 12 m ph

2 (k ) x 2 (k ) x
2 (k ) x 2 (k ) x 2 (k ) x 2 (k ) x

d1

d1

d1

d1

d1

d2

d2

d2

d2

d2

2 miles

Slope
6000

c32

5690

2304

3386 70

122 192

48.37 m ph

(5690, 122) 3

5000

Flow (vehicles/hour/lane)

4000

(3588, 55) 1
3000

c12

9.37 m ph

(2304, 192)
2000

1000

0 0 50 100 Density (veh/m i/lane) 150 200 250

At time t

0.167 hr

10 min

3.57 miles
c12 9.37 m ph

c32

48.37 m ph

Region 1
q1 k1 1 x
1 ( k1 ) x 1 ( k1 ) x 1 ( k1 ) x

Region 2
q2 k2 2 x
1 ( k1 ) x

Region 3
q3 k3 3 x
2 (k ) x 2 (k ) x 2 (k ) x 2 (k ) x

3588 veh/hr 55 veh/m i 65.2 m ph

1 ( k1 ) x

2304 veh/hr 192 veh/m i 12 m ph

2 (k ) x 2 (k ) x

qc kc c x

5690 veh/hr 122 veh/m i 46.6 m ph

3 ( k 3 ) x

d1

d1

d1

d1

d1

d2

d2

d2

d2

d2

2 miles

Once the truck leaves the freeway, the unloading shock wave catches up to and annihilates the slow-moving queue when

t (48.37 mph)
or

3.57 mi t (9.37 mph)

3.57 m i 48.37 m ph 9.37 m ph

0.062 hr

3.71 m in

after the truck leaves.

Example 2: Incident Management

At Time t = 8:00 AM
1 ( k1 ) x 1 ( k1 ) x 1 ( k1 ) x 1 ( k1 ) x 1 ( k1 ) x 1 ( k1 ) x 1 ( k1 ) x 1 ( k1 ) x 1 ( k1 ) x

1 ( k1 ) x

1 ( k1 ) x

1 ( k1 ) x

1 ( k1 ) x

1 ( k1 ) x

1 ( k1 ) x

1 ( k1 ) x

1 ( k1 ) x

B 15 miles

Consider a section of four-lane freeway (two lanes in each direction) as shown below. The freeway typically carries 2571 veh/hr during the morning peak period. An accident occurs at 8:00 AM at Point A, blocking the entire freeway in that direction.

Example 2: Incident Management

At Time t = 8:15 AM
2 (k 2 ) x 2 (k 2 ) x 2 (k 2 ) x 2 (k 2 ) x 2 (k 2 ) x 2 (k 2 ) x 2 (k 2 ) x 2 (k 2 ) x 2 (k 2 ) x

B 15 miles

Fifteen minutes after the accident, one lane is cleared and traffic begins to flow again past point A.

Example 2: Incident Management

Flow - D ensity Relationship

2000

1800

1600

k j =150 veh/m i/lane

1400
F lo w (veh icles/h ou r/lan e)

1200

1000

S f = 60 m ph
800

600

400

200

0 0 10 20 30 40 50 60 70 80 90 100 110 120 130 140 150 160

kc

Den sity (veh /m i/lan e)

k jam

Lets use shock wave analysis to try to answer the following questions:
Where is the end of the queue at 8:15 AM? When (at what time) are the vehicles on the freeway last forced to stop by the queue? What is the maximum size of the queue? What is the maximum distance of the end of the queue from the accident site? By what time would the second lane at the accident site have to be cleared so as not to disrupt the flow of traffic entering the freeway at the entrance ramp at point B?

Freew a y Flow - D ensity Re lationship

4000

3500

3000

k j =300 veh/m i

F lo w (veh icles/h ou r)

2500

2000

S f = 60 m ph
1500

1000

500

0 0 20 40 60 80 100 120 140 160 180 200 220 240 260 280 300 320

kc

Den sity (veh /m i/lan e)

k jam

Example 2: Incident Management

Answer to Question 1: Where is the end of the queue at 8:15 AM?

At Time t > 8:00 AM

c 21
Region 1
1 ( k1 ) x 1 ( k1 ) x 1 ( k1 ) x 1 ( k1 ) x 1 ( k1 ) x 1 ( k1 ) x 1 ( k1 ) x

Region 2
0 0

1 ( k1 ) x

1 ( k1 ) x

1 ( k1 ) x

1 ( k1 ) x

1 ( k1 ) x

1 ( k1 ) x

1 ( k1 ) x

B 15 miles

Freeway Flow - Density Relationship

4000

3500

3000

(2571, 42.85)
Flow (vehicles/hour)
2500

k j =300 veh/mi

2000

S f = 60 mph
1500

1000

500

(0, 300)
0 0 20 40 60 80 100 120 140 160 180 200 220 240 260 280 300

2
320

kc

Density (veh/mi/lane)

k jam

Freew ay Flow - D ensity R elationship

4000

3500

3000

k j =300 veh/m i
(2571, 42.85)

Flow (vehicles/hour)

2500

1
c 21 slope q2 k2 q1 k1 0 300 2571 42.85 10 mph

2000

S f = 60 m ph
1500

1000

500

(0, 300)
0 0 20 40 60 80 100 120 140 160 180 200 220 240 260 280 300

2
320

kc

Density (veh/m i/lane)

k jam

c 21

10 mph
Region 2 Region 1

q1 1 x k1

2571 veh/hr 60 mph 42.85 veh/mi

q2 k2 2 x

0 veh/hr 300 veh/m i 0 m ph

So, the end of the queue at time 8:15 AM is given by

10 m ph

15 m in 60 m in hr

2.5 m iles (upstream )

At Time t > 8:00 AM

c 21
Region 1

10 m ph
Region 2
1 ( k1 ) x 1 ( k1 ) x

1 ( k1 ) x

1 ( k1 ) x

1 ( k1 ) x

1 ( k1 ) x

1 ( k1 ) x

1 ( k1 ) x

1 ( k1 ) x

1 ( k1 ) x

1 ( k1 ) x

1 ( k1 ) x

1 ( k1 ) x

1 ( k1 ) x

B
15 miles
.

So, the end of the queue at time 8:15 AM is given by

10 m ph

15 m in 60 m in hr

2.5 m iles (upstream )

Example 2: Incident Management

Answer to Question 2: When (at what time) are the vehicles on the freeway last forced to stop by the queue?

At Time t = 8:15 AM
2 (k 2 ) x 2 (k 2 ) x 2 (k 2 ) x 2 (k 2 ) x

c 21
2 (k 2 ) x

10 m ph
2 (k 2 ) x 2 (k 2 ) x 2 (k 2 ) x 2 (k 2 ) x

B
15 miles

Example 2: Incident Management

Time t > 8:15 AM

c32

c 43

c 21

10 m ph
Region 2
1 ( k1 ) x 2 (k 2 ) x 2 (k 2 ) x 1 ( k1 ) x 1 ( k1 ) x 2 (k 2 ) x 2 (k 2 ) x 2 (k 2 ) x

Region 1
1 ( k1 ) x 1 ( k1 ) x 1 ( k1 ) x 1 ( k1 ) x 1 ( k1 ) x

Region 3
2 (k 2 ) x

Region 4
4 (k 4 ) x 4 (k 4 ) x

3 ( k 3 ) x

3 ( k 3 ) x

B
15 miles

Freew ay Flow - Density Relationship

4000

Flow - Density Curve for Regions 1, 2, and 3

3500

3000

k j =300 veh/m i
(2571, 42.85)

S f = 60 m ph

Flow (vehicles/hour)

2500

1 c 21 4
(1800, 30)

2000

c 43

3
(1800, 180)

1500

k j =150 veh/m i
1000

c 32

Flow - Density Curve for Region 4

500

(0, 300)
0 0 20 40 60 80 100 120 140 160 180 200 220 240 260 280 300

2
320

kc

kc

k jam
D ensity (veh/m i/lane)

k jam

c32
c 21 10 m ph
Region 2
1 ( k1 ) x 2 (k 2 ) x 2 (k 2 ) x 1 ( k1 ) x 1 ( k1 ) x 2 (k 2 ) x 2 (k 2 ) x 2 (k 2 ) x

c 43

Region 1
1 ( k1 ) x 1 ( k1 ) x 1 ( k1 ) x 1 ( k1 ) x 1 ( k1 ) x

Region 3
2 (k 2 ) x

Region 4
4 (k 4 ) x 4 (k 4 ) x

3 ( k 3 ) x

3 ( k 3 ) x

Freew ay Flow - Density Relationship

B 15 miles

A
4000

Flow - Density Curve for Regions 1, 2, and 3

3500

3000

k j =300 veh/m i
(2571, 42.85)

S f = 60 m ph

Flow (vehicles/hour)

2500

1 c 21 4
(1800, 30)

2000

c 43

3
(1800, 180)

1500

k j =150 veh/m i
1000

c 32

Flow - Density Curve for Region 4

500

(0, 300)
0 0 20 40 60 80 100 120 140 160 180 200 220 240 260 280 300

2
320

kc

kc

k jam
D ensity (veh/m i/lane)

k jam

c 32

q3 k3 q4 k4

q2 k2 q3 k3

1800 180

0 300

1800 120

15 m ph

c 43

1800 1800 180 30

0 150

0 m ph

Example 2: Incident Management

q4 k4 1800 veh/hr 30 veh/m i 60 m ph

Time t > 8:15 AM

4 x

c 21

10 m ph

c32

15 m ph
Region 3
2 (k 2 ) x

c 43

0 m ph

Region 1
1 ( k1 ) x 1 ( k1 ) x 1 ( k1 ) x 2 (k 2 ) x 1 ( k1 ) x 1 ( k1 ) x 1 ( k1 ) x 1 ( k1 ) x 1 ( k1 ) x

Region 2
2 (k 2 ) x 2 (k 2 ) x 2 (k 2 ) x 2 (k 2 ) x

Region 4
4 (k 4 ) x 4 (k 4 ) x

3 ( k 3 ) x

3 ( k 3 ) x

B
15 miles
q1 k1 1 x 2571 veh/hr 42.85 veh/mi 60 mph

q2 k2 2 x

0 veh/hr 300 veh/m i 0 m ph

q3 k3 2 x

1800 veh/hr 180 veh/m i 10 m ph

So, when (at what time) are the vehicles on the freeway last forced to stop by the queue? Precisely when the unloading wave with speed c32 catches up with the blocking wave traveling at c21. Let t*= the amount of time that it takes for the unloading wave with speed c32 to catch up with the blocking wave traveling at c21 (which has had a 15-minute head start). Then

c 32 t 15 t 5 t t
* *

c 21 ( t 10 ( t 2.5 hr
*

0.25 hr ) 0.25 hr )

0.5 hr

So, the time at which the last vehicle has to stop is 8:15 + 0.5 hr = 8:45 AM.

Answer to Question 3: What is the maximum size of the queue? Since the unloading wave travels faster upstream than does the blocking wave, the maximum size of the queue occurs at 8:15 AM; its length is 2.5 miles.

Answer to Question 4: What is the maximum distance of the end of the queue from the accident site? In 45 minutes, the back of the queue would have reached a distance (-10 mph)x(0.75 hr) = 7.5 miles upstream of the accident.

Answer to Question 5: By what time would the second lane at the accident site have to be cleared so as not to disrupt the flow of traffic entering the freeway at the entrance ramp at point B? We now know (from the answers to Questions 3 and 4) that at 8:45 AM and 7.5 miles upstream of the accident the blocking wave is annihilated, (i.e., Region 2 disappears). So, at 8:45 AM the situation looks like:

Example 2: Incident Management

q4 1800 veh/hr 30 veh/m i 60 m ph
q3 k3 q1 k1 1800 180 2571 30 771 150

k4
5.14 m ph

Time t= 8:45 AM c31

4 x

c31
Region 1
1 ( k1 ) x 1 ( k1 ) x 1 ( k1 ) x 1 ( k1 ) x

c 43
Region 3
3 ( k 3 ) x 3 ( k 3 ) x 3 ( k 3 ) x

0 m ph

Region 4
4 (k 4 ) x 4 (k 4 ) x

1 ( k1 ) x

1 ( k1 ) x

1 ( k1 ) x

1 ( k1 ) x

1 ( k1 ) x

3 ( k 3 ) x

3 ( k 3 ) x

B
15 miles
q1 k1 1 x 2571 veh/hr 42.85 veh/mi 60 mph

7.5 miles

q3 k3 2 x

1800 veh/hr 180 veh/m i 10 m ph

Freew ay Flow - Density Relationship

4000

Flow - Density Curve for Regions 1, 2, and 3

3500

3000

k j =300 veh/m i
(2571, 42.85)

S f = 60 m ph

Flow (vehicles/hour)

2500

1 c 31 4
(1800, 30)

2000

c 21

c 43

3
(1800, 180)

1500

k j =150 veh/m i
1000

c 32

Flow - Density Curve for Region 4

500

(0, 300)
0 0 20 40 60 80 100 120 140 160 180 200 220 240 260 280 300

2
320

kc

kc

k jam
D ensity (veh/m i/lane)

k jam

So, the Region 3 conditions will hit the ramp at Point B at time

8 : 45

15 m i

7.5 m i c 31

8 : 45

7.5 m i 5.14 m ph

8 : 45

1.46 hr

10 : 21 PM

As soon as we open both lanes, traffic begins to move at the full capacity of the two lanes, or at 3600 vph, setting up a wave that moves upstream into Region 3.

Example 2: Incident Management

q5 3600 veh/hr 60 veh/m i 60 m ph
q5 k5 q3 k3 3600 1800 60 180 1800 120

k5
15 m ph

Time t= 8:45 AM

c 53

5 x

c31

5.14 m ph

c53

Region 1
1 ( k1 ) x 1 ( k1 ) x 1 ( k1 ) x 1 ( k1 ) x

Region 3
3 ( k 3 ) x 3 ( k 3 ) x 3 ( k 3 ) x
1 ( k1 ) x

Region 5
5 ( k 5 ) x 5 ( k 5 ) x 5 ( k 5 ) x 5 ( k 5 ) x

1 ( k1 ) x

1 ( k1 ) x

1 ( k1 ) x

3 ( k 3 ) x

3 ( k 3 ) x

3 ( k 3 ) x

B
15 miles
q1 k1 1 x 2571 veh/hr 42.85 veh/mi 60 mph

7.5 miles

q3 k3 2 x

1800 veh/hr 180 veh/m i 10 m ph

Freew ay F low - D ensity Re latio nship

4000

(3 6 0 0 , 6 0 )
3500

5
Flo w - D ens ity Curve for Reg io ns 1, 2, a nd 3

3000

c 53
k j =3 00 veh/m i
(2 5 7 1, 4 2 .8 5)

S f = 6 0 m ph

Flow (vehicles/hour)

2500

1 c 31 4
(1 8 00 , 3 0)

2000

c 21

c 43

3
(1 8 0 0, 1 8 0 )

1500

k j =1 50 veh/m i
1000

c 42

Flow - Density C urve fo r R egion 4

500

(0 , 3 00 )
0 0 20 40
c

2
60 80 100 120 140 160 180 200 220 240 260 280 300 320

kc

k jam
D ensity (veh/mi/lane)

k jam

So, it takes this full unloading wave 1 hour to travel 15 miles upstream to the point B. Therefore, the lanes must be opened no later than one hour before the wave c31reaches point B, or the second lane must be opened no later than

10 : 21 PM 1 hr

9 : 21 AM