VEHICLE TRACKING AND SPEED ESTIMATION UNDER MIXED TRAFFIC CONDITIONS USING YOLOV4 AND SORT: A CASE STUDY OF HANOI

This paper presents a method to estimate vehicle speed automatically, including cars and motorcycles under mixed traffic conditions from video sequences acquired with stationary cameras in Hanoi City of Vietnam. The motion of the vehicle is detected and tracked along the frames of the video sequences using YOLOv4 and SORT algorithms with a custom dataset. In the method, the distance traveled by the vehicle is the length of virtual point-detectors, and the travel time of the vehicle is calculated using the movement of the centroid over the entrance and exit of virtual point-detectors (i.e., region of interest), and then the speed is also estimated based on the traveled distance and the travel time. The results of two experimental studies showed that the proposed method had small values of MAPE (within 3%), proving that the proposed method is reliable and accurate for application in real-world mixed traffic environments like Hanoi, Vietnam.