Urban road network travel time distribution estimation method based on data fusion

The invention provides an urban road network travel time distribution estimation method based on data fusion, and the method comprises the steps: firstly obtaining a path rsk based on the track data of a network-connected vehicle uploaded by a floating vehicle, then calculating the travel time distribution probability density of any path, and then calibrating the time for AVI data collected by an electronic police bayonet device. According to the method, travel time information of AVI local observation and global distribution information provided by the networked vehicles are combined, the problems that in an existing method, it is difficult to deal with deviation of networked vehicle samples and the coverage rate in a vehicle automatic identification equipment road network is low are solved, it is ensured that urban road network travel time distribution estimation is not limited by the arrangement density factor of detectors in the road network, and the estimation accuracy of urban road network travel time d