Vehicle Trajectory Reconstruction for Signalized Intersections with Low-Frequency Floating Car Data

Table 2

Trajectory estimation error for proposed method and benchmark method.

Deceleration onset	Stopped position (m)	Number of	Proposed method		Linear Interpolation Method
Speed (Km/h)		trajectories	MMAE (m)	MTAE (s)	MMAE (m)	MTAE (s)
		5	10.53	6.6	11.3	9.7
		7	9.34	8.9	9.48	13.1
		7	9.86	9.5	12.51	12.7
		16	10.26	9.9	13.9	11.6
		14	8.23	6.3	11.1	10.3
		10	6.11	7.4	9.95	10.5
		9	7.57	6.0	10.66	11.2
		7	8.35	6.2	11.38	9.9
		20	7.39	6.5	10.17	10.4
		16	6.46	5.8	9.35	11.7
		13	6.32	6.3	11.36	10.9
		10	7.49	6.1	9.77	9.8
		23	6.49	4.6	9.59	10.5
		15	5.93	5.7	9.84	9.9
		17	3.47	3.8	10.97	10.7
		-	-	-	-	-