A Novel Multisensor Traffic State Assessment System Based on Incomplete Data

Table 4

Evaluation results of different speed fusion method.

	MAE	MSE	MAPE (%)	MSPE	MAXER	MAXERR (%)
Weighted average method	2.0550	0.2343	4.4993	0.0051	8.3000	16.3065
Kalman filtering method	2.0624	0.2375	4.6198	0.0054	7.8459	16.5525
BP neural network method	1.2000	0.1375	2.6683	0.0031	4.2000	11.9047
Proposed method	1.4803	0.1641	3.2637	0.0037	3.9529	10.2142