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

Table 2

Stationary positioning accuracy of GPS.

From	To	Calculated distance (m)	Actual distance (m)	Error (m)	Proportional error
B1	B2	27.12	10.00	−17.12	171.16%
B2	B3	7.47	10.00	2.53	25.25%
B3	B4	6.57	10.00	3.43	34.35%
B4	B1	23.14	30.00	6.86	22.86%
W1	W3	21.85	20.00	−1.85	9.25%
W1	W4	30.22	30.00	−0.22	0.74%
W3	W2	16.26	10.00	−6.26	62.57%
W4	W1	30.22	30.00	−0.22	0.74%
R1	R2	10.88	10.00	−0.88	8.83%
R2	R3	13.48	10.00	−3.48	34.84%
R3	R4	26.99	10.00	−16.99	169.90%
R4	R1	31.28	30.00	−1.28	4.27%
R4	R3	10.90	10.00	−0.90	9.04%