Extracting Vehicle Trajectories from Partially Overlapping Roadside Radar

Schrader, Maxwell; Hainen, Alexander; Bittle, Joshua

doi:10.3390/s24144640

Title: Extracting Vehicle Trajectories from Partially Overlapping Roadside Radar

Journal Article · Wed Jul 17 00:00:00 UTC 2024 · Sensors

DOI: https://doi.org/10.3390/s24144640 · OSTI ID:2472169

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University of Alabama, Tuscaloosa, AL (United States); OSTI
University of Alabama, Tuscaloosa, AL (United States)

This work presents a methodology for extracting vehicle trajectories from six partially-overlapping roadside radars through a signalized corridor. The methodology incorporates radar calibration, transformation to the Frenet space, Kalman filtering, short-term prediction, lane-classification, trajectory association, and a covariance intersection-based approach to track fusion. The resulting dataset contains 79,000 fused radar trajectories over a 26-h period, capturing diverse driving scenarios including signalized intersections, merging behavior, and a wide range of speeds. Compared to popular trajectory datasets such as NGSIM and highD, this dataset offers extended temporal coverage, a large number of vehicles, and varied driving conditions. The filtered leader–follower pairs from the dataset provide a substantial number of trajectories suitable for car-following model calibration. The framework and dataset presented in this work has the potential to be leveraged broadly in the study of advanced traffic management systems, autonomous vehicle decision-making, and traffic research.

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Research Organization:: University of Alabama, Tuscaloosa, AL (United States)

Sponsoring Organization:: USDOE Office of Energy Efficiency and Renewable Energy (EERE), Office of Sustainable Transportation. Vehicle Technologies Office (VTO)

Grant/Contract Number:: EE0009210

OSTI ID:: 2472169

Journal Information:: Sensors, Journal Name: Sensors Journal Issue: 14 Vol. 24; ISSN 1424-8220

Publisher:: MDPI AGCopyright Statement

Country of Publication:: United States

Language:: English

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33 ADVANCED PROPULSION SYSTEMS
car-following model
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engineering
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Title: Extracting Vehicle Trajectories from Partially Overlapping Roadside Radar

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References (36)

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