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

Table 3

Result of field test Scenario 1 (5 trials).

ID	Actual distance (m)	Reckoned distance (m)	Error (m)	PE
1	37.50	37.29	−0.21	0.56%
2	37.50	37.56	0.06	0.16%
3	37.50	37.83	0.33	0.88%
4	37.50	37.33	−0.17	0.45%
5	37.50	37.33	−0.17	0.45%