CIVENG 4TA4 Traffic Analysis

Lecture 4
Shock Wave Analysis

Mohamed Hussein, PhD, P.Eng

Intended Learning Outcomes

❑ By the end of today’s lecture, you are expected to:

1) Understand the concepts of shock waves in Traffic Engineering

2) Learn different applications of shock waves in Traffic Engineering

2
Shock Wave

❑ Suppose that a traffic stream is moving on two-way two-lane highway

with the following characteristics (q= 1500 vph, SMS = 50 km/h)

❑ At a specific instant of time (T = t0), a slow truck, travelling at 20 km/h

entered the roadway

❑ Assuming that the passing is not permitted on the highway, all arriving
vehicles have to slow down to follow the truck speed. Accordingly,
vehicles will reduce spacing since they are travelling at a lower speed
(Assume that the spacing behind the truck = 11.11 m).

(q = 1500, v = 50) (Slow truck enters, v = 20)

3
Shock Wave (Continued)

❑ After some time (T = t0 + Δt), we will have two groups of vehicles on the
highway:

❖ Group 1 includes the vehicles that are following the truck. (speed =
20 km/h, spacing = 11.11 m)

❖ Group 2 includes the vehicles entering the highway and have not
yet reached the position of the slow truck (or the vehicles behind
it). These vehicles will be travelling at the initial traffic conditions.
(speed = 50 km/h, flow = 1500 vph)

T = t0 + Δt

4
 Shock Wave Representation

❑ A stationary observer with an aerial view of the highway will see a slow
platoon of vehicles that grows behind the slow truck. The platoon keeps
growing with a specific rate (as if the rear of the platoon is moving at a
different speed than the front of the platoon)

T=0 (Slow truck enters)

T = t2

T = t3

T = t4 Initial traffic conditions Free flow conditions

Platoon conditions
5
Shock Wave Representation on Time-space Diagram
Distance

L2
L1

T = t1 T = t2 Time

6
Shock Wave Speed

❑ At the back of the platoon, traffic conditions change from the normal state
(q = 1500, v = 50) to a new state (v = 20, spacing = 11.11), which creates
what’s called a “shock wave”

❑ Shock wave speed (Vw) is the speed at which the change of traffic
condition propagates (the speed of the rear of the platoon for a stationary
observer in the current example)

❑ Shock wave speed (Vw) is calculated according to the following equation:

𝑞2 − 𝑞1
𝑉𝑤 =
𝑘2 − 𝑘1

7
Shock Wave Speed Derivation

❑ Let’s consider a stretch of the road with length (L), as shown in the figure below

❑ At any time (t), we will have two conditions: Initial condition (q = q1 and k= k1)
and platoon conditions (q = q2 and k= k2)

❑ Let Nt1 is the total number of vehicles over length (L) at time t1 and Nt2 is the total
number of vehicles over length (L) at time t2

q1, k1 q2, k2
Nt1 = [k2 * X2] + [k1 * (X1+ ∆X)] T = t1
X1 ∆X X2
Nt2 = [k2 * (X2 + ∆X)] + [k1 * X1]

∆N = Nt2 – Nt1 = (k2 ∆X – k1 ∆X) T = t2

q1, k1 q2, k2
L

8
Shock Wave Speed Derivation

❑ Also, the change in the number of vehicles can be expressed in terms of flow as
follows:

∆N = (q2 – q1) * ∆t

❑ Hence: (q2 – q1) * ∆t = (k2 – k1) * ∆X

∆X / ∆T = (q2 – q1) / (k2 – k1)

❑ (∆X/∆T) is the rate at which the platoon length increase (shock wave speed)

i.e. Vw = (q2 – q1) / (k2 – k1)

9
Shock Wave Sign

❑ The sign of the shock wave speed indicates the shock wave direction
(relative to traffic direction)

❖ A positive shock wave speed means that the shock wave is moving
in the same direction of traffic

❖ A negative shock wave speed means that the shock wave is moving
in the same direction of traffic

10
Shock Wave Speed in the Truck Example

❑ Now, let’s calculate the shock wave speed of the slow truck example:
❖ Traffic state 1 (the initial traffic conditions):
q = 1500 vph, v = 50 km/h, and hence, k = 1500/50 = 30 veh/km
❖ Traffic state 2 (the platoon condition):
(k = 1000/11.11 = 90 veh/km), (q = 90 * 20 = 1800 vph)

❑ Then, shock wave speed is calculated as follows:

𝑞2 − 𝑞1 1800 − 1500
𝑉𝑤 = = = +5 𝑘𝑚/ℎ
𝑘2 − 𝑘1 90 − 30

❑ This means that, to a stationary observer, the rear of the platoon is moving
forward by speed = 5 km/h
11
Shock Wave Speed in the Truck Example

2500

2000
q = 1800 State 2

q = 1500 Vw
1500
State 1
q (vph)

1000
k-=30

k-=90
500

0
0 20 40 60 80 100 120 140
K (veh/km)

12
 Shock Wave Speed in the Truck Example

T=0 (Slow truck enters)

T = t2

T = t3

T = t4 Initial traffic conditions Free flow conditions

Platoon conditions

13
Shock Wave and Queue Formation

❑ Now, we have:

The front of the platoon is moving by speed 20 km/h

The back of the platoon is moving by speed 5 km/h

Hence, the rate at which platoon is formed = 20 – 5 = 15 km/h

❑ This means that if this situation continues for an hour, we will have a
queue of 15 km of vehicle moving behind the truck

14
Queue Dissipation

❑ Now, let’s say that after 10 minutes the truck exit the highway

❑ Immediately at the moment that truck exits, we have a long platoon that
has been formed behind the truck over the 10 minutes:

length of the platoon = Vw * Time

= 15 (km/h) * 10 (min) / 60 = 2.5 km

❑ The vehicles in the front of the platoon will find an empty road ahead of
them, so they will start to accelerate (one by one)

15
Queue Dissipation

❑ But remember, the platoon is too long (2.5 km), which means that it will
take some time for all vehicles to accelerate and adjust to the new traffic
conditions. During that time, vehicles will keep arriving and join the
platoon from behind

❑ In this case, we will have two shock waves propagating at the same time:

❖ Shock wave 1, at the front of the platoon (Recovery shock wave)

❖ Shock wave 2, at the back of the platoon (Forming shock wave)

❑ If the speed of Shock wave 1 < speed of Shock wave 2, this means that
after some time, the two shock waves will meet and the queue that was
formed behind the truck will be fully dissipated
16
Front And Rear Shock Waves on the Time-space Diagram
Distance

Truck Leaves

T = 10 minutes Time

17
Front And Rear Shock Wave Speeds

❑ Assume that traffic is released at the capacity of the roadway

qmax = Kj * Vf / 4 = 2112,5 vph,

Corresponding density (km) = kj / 2 = 65 veh/km

❑ Front Shock wave speed

𝑞2 − 𝑞1 1800 − 2112.5
𝑉𝑤 = = = −12.5 𝑘𝑚/ℎ
𝑘2 − 𝑘1 90 − 65

The negative sign means that for a stationary observer, the front of the
queue will appear as if it is moving in the opposite direction of the traffic

❑ Rear Shock wave speed will not change (+ 5 km/h)

18
 Front And Rear Shock Wave Speeds

T = 10 min Truck exits the roadway

T = 10 + t1

T = 10 + t2

T = 10 + t3

19
Front And Rear Shock Wave Speeds

2500
Release
q = 2112.5 conditions
2000
q = 1800
Platoon
q = 1500 conditions
1500
Original
q (vph)

conditions

1000
k-=30

k-=65

k-=90
500

0
0 20 40 60 80 100 120 140
K (veh/km)

20
Queue Dissipation Calculations

❑ Let’s calculate the time it will

take to release the queue from

Distance (km)
the moment the truck exits the
roadway

❖ The rate of queue

3.333
dissipation = 5 – (-
12.5) = 17.5 km/h

Max queue
2.5 km
❖ Time = length of the 0.833
queue / dissipation rate
10 18.57
Time (min)
❖ Time = 2.5 / 17.5 = Dissipation time
8.57 min
0.14 h = 8.57 minutes

21
Shock Wave Examples

22
Example 1

❑ A two lane rural highway has a capacity of 2000 vph. The average vehicle
spacing during Jam conditions is 10 m. At a given day, the traffic was
steady with an average flow of 1500 vph. The flow was bought to halt by
a traffic signal turning red at a semi-actuated intersection. The red phase
lasted 30 seconds before the signal turned green, allowing the traffic to be
released at the full capacity of the highway. There is a minor stop-
controlled intersection that is located 300 m upstream the signalized
intersection. Will the queue that resulted from the red signal block the
minor intersection? (Assume that the traffic is described by Greenberg’s
model)

23
Solution

❑ When the signal turns red, A shock

wave will occur (Queue forming
shock wave)

q (veh/h)
❑ Traffic condition 1: q= 1500
k = k1
1500
Traffic condition 2: q=0
k = kj

K1 Kj K (veh/km)
❑ To calculate the shock wave speed,
we need to get k1 and the jam
density

24
Solution

❑ Calculate kj
❖ kj = 1000/Sj = 1000/10 = 100 veh/km

❑ Calculate k1
𝐾
❖ Greenberg equation: 𝑞 = 𝐾𝑉𝑚 ln 𝐽
𝐾
❖ km = kj/e = 100/e = 36.79 veh/km
❖ Hence, vm = 2000/36.79 = 54.36 km/h
100
❖ Now we have, 1500= 54.36𝑘1 ln
𝑘1

❖ Graphically or by trial and error: k1 = 14.07 veh/km

Solution

❑ Calculate the shock wave speed

0 − 𝑞1
𝑉𝑤 =
𝑘𝑗 − 𝑘1

0 − 1500
𝑉𝑤 = = −17.46 𝑘𝑚/ℎ
100 − 14.07

❑ Calculate the length of the queue that is formed during the red phase

L = 17.45 (km/h) * 30 seconds / 3600 = 0.1454 km

= 145.4 m

26
Solution

❑ When the signal turns green, A

recovery shock wave will be
formed in the front of the queue.

q (veh/h)
The forming shock wave will
continue, since vehicles arrive 2000
downstream with the same rate
1500
❑ Front shock wave: will occur
between the jam condition and
the capacity conditions
14.07 km Kj K (veh/km)
❑ Rear shock wave: will continue
to propagate as traffic changes
from the initial flow conditions
to the jam condition

27
Solution

❑ Calculate the speed of the front recovery shock wave

𝑞𝑚 − 0
𝑉𝑤2 =
𝑘𝑚 − 𝑘𝑗
2000 − 0
𝑉𝑤2 = = −31.64 𝑘𝑚/ℎ
36.79 − 100

❑ The rear forming shock wave remains unchanged (Vw1 = -17.46 km/h)

❑ Rate of queue dissipation = 31.64 – 17.64 = 14.18 km/h

❑ Time needed for the queue to be fully released

t = 0.1454 (km) / 14.18 (km/h) = 0.01025 h = 36.91 seconds

28
Solution

Distance (m)
❑ Let’s calculate the distance that will
be impacted by the queue until it is
fully dissipated (X)
X

❑ X = 17.46 (km/h) * 66.91 (s) / 3600

= 0.325 km = 325 m
X

❑ Thus, the minor intersection will be

145.4
Lmax
impacted by the queue
30 66.91
Time (sec)
Dissipation time
36.91 s

29
Example 2

❑ The traffic flow demand for a six-lane urban arterial road (three lanes per
direction) is given below. The relationship between flow and density for
this road follows the GreenShiled’s model: q = 1.19 (k) (82-k), where (q)
is in veh/h/lane and (k) is in veh/km/lane.
One lane of the three lanes of the EB direction was closed at 6:00 AM to
provide access for trucks to a nearby construction site. The lane was
reopened at 7:00 AM and the traffic was released at capacity conditions.
Determine: 1) The maximum length of queue upstream of the bottleneck,
2) The time at which the queue dissipates, and 3) The distance upstream
of the bottleneck that is affected by the lane closure

Time Demand
6:00 – 7:00 AM 5000
7:00 – 8:00 AM 4000
8:00 – 9:00 AM 3500
30
Solution

❑ When a lane is closed, the capacity of the will drop (by the capacity of
one lane). A queue will develop if the demand upstream exceeds the
capacity of the bottle neck (the capacity of two lanes)

❑ Now we need to determine the capacity:

❖ Since the traffic follows the Greenshileds’ model, qmax =
(kj*Vf/4)
❖ To get the jam density and the free flow speed, let’s recall the q-k
equation of the Greenshileds’ model
𝑉𝑓 2
𝑞 = 𝑘𝑉𝑓 − 𝑘
𝐾𝑗
❖ Rearrange
1 𝑉𝑓
𝑞 = 𝑘𝑉𝑓 1 − 𝑘 = 𝑘(𝐾𝑗 − 𝑘)
𝐾𝑗 𝐾𝑗 31
Solution

❑ Compare this form to the equation given in the problem

𝑉𝑓
𝑞= 𝑘(𝐾𝑗 − 𝑘) 𝑞 = 1.19𝑘(82 − 𝑘)
𝐾𝑗

❑ We can conclude that: (kj= 82 veh/km/lane & Vf = 1.19 * 82 = 97.58 km/h)

❑ Then. The maximum flow (capacity) is 82 * 97.58 / 4 = 2000 veh/h/lane

❑ The capacity of the bottleneck is 4000 vph (2 lanes), while the demand
between at 6:00 is 5000 vph (> capacity). Hence, queues are expected

Stable flow Congestion Bottleneck

32
Solution

❑ At 6:00 AM, the traffic conditions change from:

❖ State 1: vehicles arriving at a rate 5000 vph (1666.67 veh/h/lane)
❖ State 2: Vehicles leaving at a rate of 4000 vph (i.e. each lane at
the bottleneck can carry a flow of 1333.33 veh/h/lane)

❑ Accordingly, a shock wave will occur

𝑞1 − 𝑞2
𝑉𝑤 =
𝑘1 − 𝑘2

❑ We can solve the q-k equation to get K1, and K2

1666.67 = 1.19 (k1) (82-k1) k1= 24.25 or k1 = 57.57 Stable flow

1333.33 = 1.19 (k2) (82-k2) k2= 17.32 or k2 = 64.68 Congested flow

33
Solution

❑ Calculate the shock wave speed:

𝑞1 − 𝑞2 1666.67 − 1333.33
𝑉𝑤 = = = −8.24𝑘𝑚/ℎ
𝑘1 − 𝑘2 24.25 − 64.68

❑ The sign of the shock wave speed is negative (opposite of traffic). This
means, that between 6:00 – 7:00 AM, a queue of L = 8.24 km will grow
upstream the bottleneck

T = 6:59:59 AM

Queue Bottleneck

8.24 km

34
Solution

❑ At 7:00 AM, two events happen simultaneously

a) The third lane reopened to traffic
b) Demand change to 4000 vph

❑ Correspondingly, we will have two shock waves acting on the queue

a) In the front of the queue, traffic change from state 1 (congestion)
to state 2 (release at capacity conditions)
b) In the back, the vehicles arriving at state 3 has to adopt to the
congested conditions of the queue (state 1)

T = 7:00:00 AM

S3 S1 Queue S1 S2
Lane reopened

Original bottleneck location

35
Solution

❑ Front shock wave:

q1 = 1333.33 veh/h/lane, k1 = 64.68 veh/km/lane

q2 = qmax = 2000 veh/h/lane, k2 = km = kj/2 = 41 veh/km/lane

𝑞1 −𝑞2 1333.33−2000
𝑉𝑤 = = = −28.15 𝑘𝑚/ℎ
𝑘1 −𝑘2 64.68−41

❑ Rear shock wave:

q3 = 1333.33 veh/h/lane, k3 = 17.32 veh/km/lane Stable flow

q1 = 1333.33 veh/h/lane, k1 = 64.68 veh/km/lane Congested flow

𝑞 −𝑞 1333.33−1333.33
𝑉𝑤 = 𝑘3−𝑘1 = =0 (stationary shock wave)
3 1 17.32−64.68

36
Solution

❑ Rate of queue dissipation = 28.15 km/h

❑ Time for dissipation = 8.24 / 28.15 = 0.293 h = 17.6 minutes

❑ This means that the queue will be fully dissipated at 7:17:36 AM

❑ The maximum distance upstream that will be affected is located at 8.24

km from the bottleneck
Distance (m)

Bottleneck location
8.24 km

Rear
(Vw = 0)

6:00 7:00 7:17:36 Time 37

Example 3

❑ In the previous example, assume that the lane was closed for maintenance
at 6:00 PM and remained closed. The relationship between flow and
density remains as it is: q = 1.19 (k) (82-k). The traffic flow demand
between 6:00 PM and 10:00 PM is given below.

1) Will the queue that has been formed upstream of the bottleneck be
dissipated? Why
2) If the answer of the previous question is yes, what is the time needed
for the queue to be fully released.

Time Demand
6:00 – 7:00 PM 5000
7:00 – 8:00 PM 4500
8:00 – 9:00 PM 3000
9:00 – 10:00 PM 2400
38
Solution

❑ When the lane is closed at 6:00 PM, the demand (5000 vph) exceeds the
capacity of the bottleneck (4000 vph), which means that a queue will be
formed

❑ Traffic changes between two states, exactly as the previous example

𝑞1 − 𝑞2 1666.67 − 1333.33
𝑉𝑤 = = = −8.24𝑘𝑚/ℎ
𝑘1 − 𝑘2 24.25 − 64.68

❑ By the end of the first hour, we will have a queue of length 8.24 km

T = 6:59:59 PM

q=5000 vph Queue Bottleneck

8.24 km
39
Solution

❑ At 7:00 PM, the demand changes to 4500 vph (1500 veh/h/lane)

1500 = 1.19 (k1) (82-k1) k1= 20.49 or k1 = 61.51 Stable flow

❑ The traffic conditions within the congested area remain unchanged (q =

1333.33 veh/h/lane, K=64.68)

❑ This means that the shock wave speed at the rear of the platoon will
change

T = 7:00:00 PM

q=4500 vph Queue Bottleneck

8.24 km

40
Solution

❑ New Shock wave speed

𝑞1 − 𝑞2 1500 − 1333.33
𝑉𝑤 = = = −3.77𝑘𝑚/ℎ
𝑘1 − 𝑘2 20.49 − 64.68

❑ This means that by the end of the second hour, the queue will grow by an
additional 3.77 km, to reach a length of 12.01 km

T = 7:59:59 PM

Second hour First hour Bottleneck

12.01 km

41
Solution

❑ At 8:00 PM, the demand changes to 3000 vph (1000 veh/h/lane)

1000 = 1.19 (k1) (82-k1) k1= 12 or k1 = 70 Stable flow

❑ The traffic conditions within the congested area remain unchanged (q =

1333.33 veh/h/lane, K=64.68)

❑ This means that the shock wave speed at the rear of the platoon will
change

T = 8:00:00 PM

q=3000 vph Second hour First hour Bottleneck

12.01 km

42
Solution

❑ New Shock wave speed

𝑞1 − 𝑞2 1000 − 1333.33
𝑉𝑤 = = = +6.33𝑘𝑚/ℎ
𝑘1 − 𝑘2 12 − 64.68

❑ Note that the shock wave has a positive sign (same direction of traffic).
This means that it is a recovery shock wave (will cause the queue to
shrink)

❑ This was expected, since the demand between 8:00 PM and 9:00 PM is
less than the capacity of the bottleneck, which means that the inflow is
less than the outflow (i.e. queue will shrink)

❑ This length of the queue at the end of the third hour will be 12.01 – 6.33 =
5.68 km

43
Solution

❑ At 9:00 PM, the demand changes to 2400 vph (800 veh/h/lane)

800 = 1.19 (k1) (82-k1) k1= 9.24 or k1 = 72.76 Stable flow

❑ The traffic conditions within the congested area remain unchanged (q =

1333.33 veh/h/lane, K=64.68)

❑ This means that the shock wave speed at the rear of the platoon will
change

𝑞1 − 𝑞2 800 − 1333.33
𝑉𝑤 = = = +9.62𝑘𝑚/ℎ
𝑘1 − 𝑘2 9.24 − 64.68

44
Solution

❑ Time needed to release the queue = 5.68 / 9.62 = 0.59 h = 35.4 min

❑ The queue will fully dissipated 9:35:24 PM

❑ The furthest point upstream that will be affected by the bottleneck is

located 12.01 km from the bottleneck

45
Solution
Distance (m)

Bottleneck
location

Max queue length

12.01 km
5.68

8.24

12.01

6:00 PM 7:00 PM 8:00 PM 9:00 PM 9:35.24 PM Time

46