CityArtery

High-resolution trajectory datasets are essential for advancing traffic flow modeling, yet existing open-source datasets suffer from limited spatiotemporal coverage, insufficient urban interaction complexity, and incomplete semantic map data. To address these gaps, we present a UAV-collected vehicle trajectory dataset comprising 14,490 complete trajectories spanning a 1-km arterial road with 2-3 signalized intersections, capturing diverse urban traffic dynamics. The dataset features two subsets: single- and multi-intersection scenarios. Using three synchronized UAVs during peak/off-peak hours over four days, we recorded dense traffic conflicts and signal interactions. Trajectories were extracted via SLAM technology and spatially aligned in the SUMO simulation platform. Structured CSV files provide vehicle kinematics (speed, acceleration), spatiotemporal coordinates (pixel/UTM), and embedded semantic data with full-day temporal granularity. This dataset supports autonomous driving algorithm validation, safety-critical scenario generation, and signal coordination studies. The publicly available repository includes trajectory data, simulation calibration parameters, and signal timing records. The Dataset directory includes two folders: Dataset/Intersection_trajectory: Contains single-intersection data with different time periods for three intersections. Dataset/Processed Data: Holds partially processed data. Additionally, the Signal Timing Records table contains phase-based signal timing records for three scenarios.高分辨率轨迹数据集对于交通流建模的进阶发展至关重要，但现有开源数据集普遍存在时空覆盖范围有限、城市交互复杂度不足以及语义地图数据不完备等缺陷。为弥补上述不足，本研究发布一套由无人机采集的车辆轨迹数据集：该数据集包含14490条完整轨迹，覆盖一条长1公里、包含2至3个信号控制交叉口的城市主干道，完整捕捉了多样的城市交通运行动态。该数据集包含两个子数据集：单交叉口场景子集与多交叉口场景子集。 研究团队在四天内的高峰与平峰时段，使用三台同步作业的无人机完成数据采集，记录了密集的交通冲突与信号交互场景。轨迹通过同步定位与地图构建（Simultaneous Localization and Mapping, SLAM）技术提取，并在SUMO仿真平台中完成空间配准。结构化CSV文件存储了车辆运动学参数（速度、加速度）、时空坐标（像素坐标系/通用横轴墨卡托坐标系）以及具备全日时间粒度的内嵌语义数据。本数据集可用于自动驾驶算法验证、安全关键场景生成以及信号协调优化等相关研究。该公开数据集仓库包含轨迹数据、仿真校准参数以及信号配时记录。 数据集目录包含两个子文件夹： Dataset/Intersection_trajectory：存储三个交叉口不同时段的单交叉口轨迹数据。 Dataset/Processed Data：存储经过部分预处理的数据。 此外，Signal Timing Records（信号配时记录表）包含三种场景下基于相位的信号配时记录。