Traffic State Estimation Using Connected Vehicles and Stationary Detectors

Figure 5

Mean RMSE for the estimated speed (a) and density (b) compared to the reference density and speed for CCV at different penetration rates and for different aggregation time periods. The error bars in (b) are based on 95% confidence intervals, assuming normally distributed RMSE over the simulation runs. The standard error of mean in (a) is at most 0.44 km/h, and hence the confidence intervals are excluded from the figure for greater legibility.

(a)

(b)