Dongfang Ma Dianhai Wang Fengjie Fu Xiaolong Ma Sheng Jin 0001 Estimation of saturation degree for lane groups at signalized intersections using video imaging detection data. 774-779 2014 ITSC https://doi.org/10.1109/ITSC.2014.6957783 conf/itsc/2014 db/conf/itsc/itsc2014.html#MaWFMJ14