In the present paper we are concerned with developing more realistic dynamic models of route choice and departure time decisions of transportation network users than have been proposed in the literature heretofore. We briefly review one class of models that is a dynamic generalization of the static Wardropian user equilibrium, the so-called Boston traffic equilibrium. In contrast, we then propose a new class of models that is also a dynamic generalization of the static Wardropian user equilibrium. In particular, we show for the first time that there is a variational inequality formulation of dynamic user equilibrium with simultaneous route choice and departure time decisions which, when appropriate regularity conditions hold, preserves the first in, first out queue discipline.

In this paper we present tatonnement models for calculating static Wardropian user equilibria on congested networks with fully general demand and cost structures. We present both a qualitative analysis of stability and numerical studies which show that such an approach provides a reliable means for determining static user equilibria. We also describe circumstances for which these models depict day-to-day adjustments from one realizable disequilibrium state to another and how these adjustment processes differ depending on the “quality” of the information being provided by (abstract) traveler information systems. Specifically, we demonstrate that such dynamic adjustment processes settle down to equilibria both when information is complete and when it is incomplete.

For applications of realistic size, both the discrete and continuous versions of the equilibrium network design problem are too computationally intensive to be solved exactly with the algorithms proposed to date. This intractibility owes to Braess' paradox which makes it necessary to constrain the flow pattern to be a noncooperative Nash or user equilibrium. This paper suggests a new heuristic for finding an approximate solution to the continuous equilibrium network design problem. Numerical tests are reported which indicate that, for networks with significant congestion, the heuristic is markedly more efficient than the Hooke-Jeeves algorithm which has been employed previously. The efficiency of the heuristic results from decomposition of the original problem into a set of interacting optimization subproblems. This decomposition is such that, at each iteration of the algorithm, only one user equilibrium needs to be calculated in order to update the improvement variables of all arcs of the network. This contrasts sharply with the Hooke-Jeeves algorithm which can require that a new user equilibrium be calculated each time an individual arc improvement variable is updated.

Two continuous time formulations of the dynamic traffic assignment problem are considered, one that corresponds to system optimization and the other to a version of user optimization on a single mode network using optimal control theory. Pontryagin's necessary conditions are analyzed and given economic interpretations that correspond to intuitive notions regarding dynamic system optimized and dynamic user optimized traffic flow patterns. Notably, we offer the first dynamic generalization of Beckmann's equivalent optimization problem for static user optimized traffic assignment in the form of an optimal control problem. The analysis further establishes that a constraint qualification and convexity requirements for the Hamiltonian, which together ensure that the necessary conditions are also sufficient, are satisfied under commonly encountered regularity conditions.

Direct application of existing sensitivity analysis methods for nonlinear programming problems or for variational inequalities to nonlinear programming or variational inequality formulations of the equilibrium traffic assignment problem is not feasible, since, in general, the solution to the equilibrium traffic assignment problem does not satisfy the uniqueness conditions required by the sensitivity analysis methods. This paper presents an approach for sensitivity analysis of equilibrium traffic assignment problems in which an equivalent restricted problem is developed which has the desired uniqueness properties; the existing methods are applied to this restricted problem to calculate the derivatives of the equilibrium arc flows with respect to perturbations of the cost functions and of the trip table. These derivatives are then shown to be equivalent to the derivatives of the original unrestricted equilibrium traffic assignment problem; therefore, the method yields the desired sensitivity analysis results.