Highlights A model-based traffic state estimation approach is developed for per-lane density estimation as well as on/off-ramp flow estimation. The estimation scheme is based on a data-driven version of the conservationof-vehicles equation, the utilization of position and speed information from connected vehicles reports, and the employment of a standard Kalman filter. Necessary and sufficient conditions for the (strong) structural observability of the introduced model are established, which yield the fixed detectors requirements needed for the proper operation of the developed estimation scheme. The performance of the estimation scheme is evaluated for various penetration rates of connected vehicles utilizing real microscopic traffic data collected within the Next Generation SIMulation (NGSIM) program. The estimation performance is satisfactory, even for low penetration rates of connected vehicles. It is also shown that, overall, the estimation scheme is little sensitive to the model’s and estimator’s parameters.

    Abstract A model-based traffic state estimation approach is developed for per-lane density estimation as well as on-ramp and off-ramp flows estimation for highways in presence of connected vehicles. Three are the basic ingredients of the developed estimation scheme: (1) a data-driven version of the conservation-of-vehicles equation (in its time- and space-discretized form); (2) the utilization of position and speed information from connected vehicles’ reports, as well as total flow measurements obtained from a minimum number (sufficient for the observability of the model) of fixed detectors, such as, for example, at the main entry and exit of a given highway stretch; and (3) the employment of a standard Kalman filter. Furthermore, necessary and sufficient conditions for the (strong) structural observability of the introduced model are established (properties, which are rarely studied in the literature on traffic estimation), which yield the fixed detectors requirements needed for the proper operation of the developed estimation scheme. The performance of the estimation scheme is evaluated for various penetration rates of connected vehicles utilizing real microscopic traffic data collected within the Next Generation SIMulation (NGSIM) program. It is shown that the estimation performance is satisfactory, in terms of a suitable metric, even for low penetration rates of connected vehicles. The sensitivity of the estimation performance to variations of the model parameters (two in total) is also quantified, and it is shown that, overall, the estimation scheme is little sensitive to the model parameters.


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    Title :

    Highway traffic state estimation per lane in the presence of connected vehicles




    Publication date :

    2017-11-01


    Size :

    28 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English




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