The invention discloses an urban signal control trunk road vehicle trajectory reconstruction method based on sparse detection data. The method mainly comprises the following steps: firstly, estimatinga potential parking position, caused by signal control, of a vehicle near an intersection by combining arterial road travel time and traffic waves; secondly, particle filtering initial particles arecalculated and comprise non-stop particles and stop particles, and the stop particles comprise primary particles and stop multi-time particles; then, calculating particle filtering measurement criteria suitable for the urban signal control trunk road, including travel time adjustment accuracy, time adjustment possibility and trunk road speed limitation; and finally, carrying out importance sampling on the initial particles, and the occurrence probability of each particle at the next moment is calculated so as to obtain the particle weight; and after iterative updating, outputting the particlewith the maximum weight to obtain a vehicle operation reconstruction track.
本发明公开了一种基于稀疏探测数据的城市信号控制干道车辆轨迹重构方法。主要步骤包括:首先,结合干道旅行时间和交通波,估计车辆在交叉口附近由于信号控制造成的潜在停车位置;其次,计算粒子滤波初始粒子,包括不停车粒子和停车粒子,其中停车粒子又包括一次粒子和停车多次粒子;之后,计算适用于城市信号控制干道的粒子滤波测量准则,包括旅行时间调整准确性、时间调整可能性和干道速度限制;最后,对初始粒子进行重要性采样,计算各粒子下一时刻出现的概率,即获得粒子权重。迭代更新后,输出权重最大的粒子,得到车辆运行重构轨迹。
Urban signal control trunk road vehicle trajectory reconstruction method based on sparse detection data
一种基于稀疏探测数据的城市信号控制干道车辆轨迹重构方法
2020-05-26
Patent
Electronic Resource
Chinese
IPC: | G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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