Lane-Level Vehicle Trajectory Reckoning for Cooperative Vehicle-Infrastructure System

<table class="table-group" width="800px"><tr class="fig-image" id="a"><td><img alt="941047.fig.0013a" src="https://static.hindawi.com/articles/ddns/volume-2012/941047/figures/941047.fig.0013a.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(a) </b>Trajectory reckoning result</td></tr></table></td></tr><tr class="fig-image" id="b"><td><img alt="941047.fig.0013b" src="https://static.hindawi.com/articles/ddns/volume-2012/941047/figures/941047.fig.0013b.jpg"/></td></tr><tr class="fig-caption"><td align="center"><table><tr><td><b>(b) </b>Reckoning error</td></tr></table></td></tr></table>

<table>Example of trajectory reckoning result of lane change.</table>

Discrete Dynamics in Nature and Society

fig13

Figure 13

Figure 13: Lane-Level Vehicle Trajectory Reckoning for Cooperative Vehicle-Infrastructure System 