Queue Length Estimation Based on Probe Vehicle Data at Signalized Intersections

Table 4

Comparison of simulation results.

Parameters	Probe vehicle penetration
	50 (%)	25 (%)	10 (%)
MAE (s/vehicle)
Method proposed in this study	5.56	13.32	18.97
Method of literature [22]	7.23	17.79	24.36
MARE (%)
Method proposed in this study	11.27	27.77	39.12
Method of literature [22]	16.53	35.81	58.73
RMSE (s/vehicle)
Method proposed in this study	6.94	15.94	22.53
Method of literature [22]	9.65	19.96	28.36