Vehicle Speed and Position Estimation considering Microscopic Heterogeneous Car-Following Characteristics in Connected Vehicle Environments

Table 5

Statistical results of optimized correction factors at various densities.

Traffic density (veh/km)
	Max	Mean	MAE (m/s)	Max	Mean	Max	Mean	MAE (m)
30	1.49	1.08	1.2 × 10^–8	0.85	0.66	1.18	0.69	1.18
35	1.29	1.03	1.44 × 10^−8	0.82	0.61	1.0	0.71	1.37
40	1.32	1.01	1.27 × 10^−8	0.83	0.62	1.08	0.66	1.39
45	1.43	0.94	1.21 × 10^−8	0.86	0.57	0.82	0.63	1.06
50	2.01	0.98	7.94 × 10^−4	0.83	0.62	0.99	0.68	0.3
55	1.24	0.85	7.4 × 10^−9	0.78	0.56	1.33	0.90	0.46
60	3.78	1.09	3.9 × 10^−3	0.82	0.60	1.36	0.87	1.41
65	3.47	1.05	1.1 × 10^−2	0.73	0.58	1.29	0.83	1.12