Control Strategy of Frequent Overflow at Intersection Based on Remote Sensing of Unmanned Aerial Vehicle and Vehicle Trajectory Data

Algorithm 1

Non-congested traffic flow speed algorithm based on K-means.

Step1:The instantaneous vehicle speed data of the floating car on the road network is taken as a training sample:

Step2:K cluster centroids are randomly selected (the ⸔selection of centroids should be combined with urban road network grade and road design speed):

Step3:Calculate the category of each:

Step4:Recalculate the centroid of each:

Step5:Repeat steps 3 and 4 until the centroid is not changing.

Step6:Calculate the speed of the non-congested traffic flow on the road network:

Remark 2:The speed of a non-congested traffic flow is a stable running speed when the vehicle is not interfered with by signals and other vehicles during the operation of the road network.