Deriving Verified Vehicle Trajectories from LiDAR Sensor Data to Evaluate Traffic Signal Performance

Abstract

Advances and cost reductions in Light Detection and Ranging (LiDAR) sensor technology have allowed for their implementation in detecting vehicles, cyclists, and pedestrians at signalized intersections. Most LiDAR use cases have focused on safety analyses using its high-fidelity tracking capabilities. This study presents a methodology to transform LiDAR data into localized, verified, and linear-referenced trajectories to derive Purdue Probe Diagrams (PPDs). The following four performance measures are then derived from the PPDs: arrivals on green (AOG), split failures (SF), downstream blockage (DSB), and control delay level of service (LOS). Noise is filtered for each detected vehicle by iteratively projecting each sample’s future location and keeping the subsequent sample that is close enough to the estimated destination. Then, a far side is defined for the analyzed intersection’s movement to linear reference sampled trajectories and to remove those that do not cross through that point. The technique is demonstrated by using over one hour of LiDAR data at an intersection in Utah to derive PPDs. Signal performance is then estimated from these PPDs. The results are compared to those obtained from comparable PPDs derived from connected vehicle (CV) trajectory data. The generated PPDs from both data sources are similar, with relatively modest differences of 1% AOG and a 1.39 s/veh control delay. Practitioners can use the presented methodology to estimate trajectory-based traffic signal performance measures from their deployed LiDAR sensors. The paper concludes by recommending that unfiltered LiDAR data are used for deriving PPDs and extending the detection zones to cover the largest observed queues to improve performance estimation reliability.

Keywords

• LiDAR
• trajectory
• traffic signal
• performance measures
• connected vehicle