This paper combines millimeter-wave radar (MMW) data with connected autonomous vehicle (CAV) trajectory data to estimate queue length on a second-by-second basis. Firstly, queued vehicles on multiple lanes with the same traffic movement are mapped to a virtual lane. Then, the presence of CAV or human-driven vehicle (HDV) for any given queueing index is determined. A Bayesian joint probability model is subsequently established for queue length expectation, considering the existence of the queued vehicle type as a condition. The average time headway and dissipation speed distribution are derived from departure timestamps, which allows for the calculation of the prior probability ratio of queue length. Lastly, the maximum likelihood estimation (EM) algorithm is employed for iteratively estimating the CAV penetration rate. Simulation results demonstrate the method offers a compelling trade-off between precision and second-based real-time performance, while field test results further confirm the wide applicability under various traffic conditions.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Second-based queue length estimation with fusing MMW and low penetration rate CAV trajectory data


    Additional title:

    TRANSPORTMETRICA B: TRANSPORT DYNAMICS
    S. HE ET AL.


    Contributors:
    He, Shuxian (author) / Du, Yuhao (author) / Li, Jiangchen (author) / Peng, Liqun (author) / Qiu, Tony Z. (author) / Zhang, Yi (author) / Zhang, Jianhua (author)


    Publication date :

    2024-12-31


    Size :

    30 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English




    LOW PENETRATION VEHICLE TRAJECTORY DATA-BASED INTERSECTION QUEUE LENGTH ESTIMATION METHOD AND APPARATUS

    SUN JIAN / YIN JUYUAN / HU XIANGWANG et al. | European Patent Office | 2020

    Free access


    Real-Time Queue Length Estimation for Signalized Intersections Using Vehicle Trajectory Data

    Li, Fuliang / Tang, Keshuang / Yao, Jiarong et al. | Transportation Research Record | 2017


    Queue Length Estimation from Connected Vehicles with Low and Unknown Penetration Level

    Tavafoghi, Hamidreza / Porter, Jared / Flores, Christopher et al. | IEEE | 2021