Highway traffic state estimation with mixed connected and conventional vehiclesHighway traffic state estimation with mixed connected and conventional vehicles Πλήρης Δημοσίευση σε Συνέδριο Conference Full Paper 2017-11-132016enA macroscopic model-based approach for estimation of the traffic state, specifically of the (total) density and flow of vehicles, is developed for the case of “mixed” traffic, i.e., traffic comprising both ordinary and connected vehicles. The development relies on the following realistic assumptions: (i) The density and flow of connected vehicles are known at the (local or central) traffic monitoring and control unit on the basis of their regularly reported positions; and (ii) the average speed of conventional vehicles is roughly equal to the average speed of connected vehicles. Thus, complete traffic state estimation (for arbitrarily selected segments in the network) may be achieved by merely estimating the percentage of connected vehicles with respect to the total number of vehicles. A model is derived, which describes the dynamics of the percentage of connected vehicles, utilizing only wellknown conservation law equations that describe the dynamics of the density of connected vehicles and of the total density of all vehicles. Based on this model, which is a linear parameter-varying system, an estimation algorithm for the percentage of connected vehicles is developed employing a Kalman filter. The estimation methodology is validated through simulations, using a second-order macroscopic traffic flow model as ground truth for the traffic state, as well as using real microscopic traffic data collected within the Next Generation SIMulation (NGSIM) program.The research leading to these results has received funding from the European Research Council under the European Union's Seventh Framework Programme (FP/2007-2013) / ERC Grant Agreement n. 321132, project TRAMAN21. http://creativecommons.org/licenses/by-nc-nd/4.0/309-31414th IFAC Symposium on Control in Transportation SystemsIFAC-PapersOnLineBekiaris-Liberis_et_al_CTS_2016.pdfChania [Greece]Library of TUC2017-11-13application/pdf684.7 kBfree Bekiaris-Liberis Nikolaos Μπεκιαρης-Λυμπερης Νικολαος Roncoli Claudio Roncoli Claudio Papageorgiou Markos Παπαγεωργιου Μαρκος International Federation of Automatic Control Highway traffic Vehicles