Evaluation Method of Urban Roads and Intersections Based on Kalman Filter

Abstract

The invention relates to an urban road and intersection evaluating method based on Kalman filtering. The method includes the steps of 1, acquiring real-time state information fed back by a floating car, and calculating an average number of stopping times of the floating car; 2, establishing a state equation and a measurement equation of a Kalman filter according to road information and the average number of stopping times of the floating car; 3, performing iterative computing with the Kalman filter used in the step 2 so as to acquire a stable optimal value, namely an estimated value of the average number of stopping times of each car; 4, evaluating urban roads and an intersections according to the estimated values of the average numbers of stopping times of the cars. Compared with the prior art, the method has the advantages such as high accuracy, high efficiency and timeliness.

Description

technical field

[0001] The invention relates to the technical field of evaluation of urban roads and intersections based on data collection and processing of floating vehicles, in particular to an evaluation method of urban roads and intersections based on a Kalman filtering method. Background technique

[0002] At present, the calculation of parking times at intersections mostly relies on coil data, and traditional methods are used to estimate the number of parking times based on flow, cycle, and green ratio. However, this method assumes that the vehicles arrive evenly, which is not consistent with the actual situation, and it is easy to cause relatively large errors.

[0003] Nowadays, more and more urban motor vehicles are equipped with global positioning systems and become floating vehicles, which can feed back various driving information such as the location, time, and speed of the vehicle in real time. When there are enough floating cars, these real-time information c...

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