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General Information
Prof. T. Hikmet Karakoc
Anadolu University, Faculty of Aeronautics and Astronautics, Turkey

IJET 2012 Vol.4(2): 116-120 ISSN: 1793-8236
DOI: 10.7763/IJET.2012.V4.330

State Space Modeling and Short-Term Traffic Speed Prediction Using Kalman Filter Based on ANFIS

Nasim Barimani, Behzad Moshiri, and Mohammad Teshnehlab

Abstract—Speed is an important component in any traffic control or monitoring systems especially for road safety. This paper presents a novel short-term traffic speed prediction model using Adaptive Neuro Fuzzy Inference System (ANFIS). By applying this method, despite nonlinear nature of traffic, linear time variant state space model will be presented. Kalman Filter (KF), based on this model, will reduce modeling error and modify prediction accuracy. Using this method, KF will be applied to the nonlinear system so Jacobian computations of Extended Kalman Filter (EKF) that is essential for nonlinear systems are not needed. Another advantage of suggested method is that there is no need to design different ANFIS structure for different predict horizons in order to obtain acceptable prediction accuracy, because the error due to the model structure is to some extent reduced by filter. Simulation results with real data sets indicate that this model is an efficient way which surpasses a common multilayer feed forward Neural Network (MLFNN) and an ANFIS predictive model.

Index Terms—Prediction, adaptive neuro fuzzy inference system, kalman filter, state space.

Nasim Barimani is with the Department of Electrical and Computer Engineering, Islamic Azad University, Science and Research Branch, Tehran, Iran (e-mail: n.barimani@srbiau.ac.ir, nas_barimani@yahoo.com).
Behzad Moshiri is with Control and Intelligent Processing Center of Excellence, School of Electronics and Computer Engineering, University of Tehran, Tehran, Iran (e-mail: moshiri@ut.ac.ir).
Mohammad Teshnehlab is with the Faculty of Electrical Engineering, Control Department, K. N. Toosi University of Tech., Tehran, 19697, Iran(e-mail: teshnehlab@eetd.kntu.ac.ir)


Cite: Nasim Barimani, Behzad Moshiri, and Mohammad Teshnehlab, "State Space Modeling and Short-Term Traffic Speed Prediction Using Kalman Filter Based on ANFIS," International Journal of Engineering and Technology vol. 4, no. 2, pp. 116-120, 2012.

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