Research Article
Particle Filter for Estimating Freeway Traffic State in Beijing
Table 1
MSE and RMSRE of estimation of density and speed.
| Error index | State variable | Speed | Density | MSE | RMSRE | MSE | RMSRE |
| Section 1 | 2.8269 | 0.0697 | 3.0131 | 0.0786 | Section 2 | 3.6196 | 0.0700 | 3.0360 | 0.0742 | Section 3 | 4.6944 | 0.0853 | 2.0087 | 0.0724 |
| Mean | 3.7136 | 0.0750 | 2.6859 | 0.0751 |
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