Freeway Traffic Speed Estimation of Mixed Traffic Using Data from Connected and Autonomous Vehicles with a Low Penetration Rate

Figure 7

Estimated speeds, the ground-truth speeds, and the CAV speeds in the color map. (a) Estimated speeds with 1% penetration rate of CAVs (km/h). (b) Ground-truth speed when CAVs account for 1% (km/h). (c) CAV speeds with 1% CAVs in mixed traffic (km/h). (d) Estimated speeds with 10% penetration rate of CAVs (km/h). (e) Ground-truth speeds when CAVs account for 10% (km/h). (f) CAV speeds with 10% CAVs in mixed traffic (km/h).

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