Particle Filter for Estimating Freeway Traffic State in Beijing

Table 1

MSE and RMSRE of estimation of density and speed.

Error index	State variable
	Speed		Density
	MSE	RMSRE	MSE	RMSRE
Section 1	2.8269	0.0697	3.0131	0.0786
Section 2	3.6196	0.0700	3.0360	0.0742
Section 3	4.6944	0.0853	2.0087	0.0724
Mean	3.7136	0.0750	2.6859	0.0751