The invention discloses a traffic state estimator design method and device for a multi-agent system, and the method comprises the steps: dividing a highway network into a plurality of cells according to a preset position, taking the traffic flow density as a traffic state variable, building a traffic flow model of the highway network, and determining an output matrix of a traffic sensor; constructing at least one state observer and at least one Kalman filter according to observability or detectability of a highway network system composed of the highway network system matrix and the output matrix of each type of traffic sensor; performing fusion calculation of weighted summation on all vehicle density estimation values obtained based on the state observer and the Kalman filter to obtain a first total vehicle density estimation value and a second total vehicle density estimation value; and carrying out weighted summation fusion calculation on the first and second total vehicle density estimation values to obtain a final vehicle density estimation value. According to the method, the state estimation precision of the mixed traffic flow is improved, and the utilization efficiency of different types of sensors is improved.
本发明公开了一种用于多智能体系统的交通状态估计器设计方法及装置,包括:将高速路网根据预设位置划分为若干元胞,以交通流密度作为交通状态变量,建立高速路网的交通流模型,并确定交通传感器的输出矩阵;根据由高速路网系统矩阵和每个类型的交通传感器的输出矩阵组成的高速路网系统的可观测性或可检测性,构建至少一个状态观测器和至少一个卡尔曼滤波器;分别对基于状态观测器和卡尔曼滤波器得到的所有车辆密度估计值进行加权求和的融合计算,得到第一和第二总车辆密度估计值;对第一和第二总车辆密度估计值进行加权求和的融合计算,得到最终车辆密度估计值。本发明提升了混合交通流的状态估计精度,提高了不同类型传感器的利用效率。
Method and device for designing traffic state estimator for multi-agent system
一种用于多智能体系统的交通状态估计器设计方法及装置
2023-06-23
Patent
Elektronische Ressource
Chinesisch
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