基于无人机轨迹数据，揭示城市混行交通中横向互动的动态规律。

Disordered traffic flow is characterized by weak or non-existent lane discipline in the presence of strong vehicle heterogeneity and continuous lateral interactions, challenging traditional lane-based modeling assumptions. This study presents an empirical study of macroscopic and microscopic aspects of disordered traffic using high-resolution UAV trajectory data collected on an urban arterial. A two-dimensional extension of Edie's framework is applied to quantify aggregate traffic variables and produce a two-dimensional fundamental diagram, revealing that traffic states cannot be adequately represented using one-dimensional formulations and highlighting the persistent role of lateral redistribution. The propagation of congestion is estimated directly from the spatiotemporal speed fields, demonstrating the emergence of coherent stop-and-go waves and showing a similar dynamics as conventional lane-based flow, in spite of the heterogeneous vehicle interactions. At the microscopic level, steady-state follower-leader identification is used to examine desired time gaps and minimum lateral spacing, vehicle dimension distributions, and kinematic characteristics, revealing pronounced inter-class heterogeneity that explains disordered traffic behavior. The study provides an empirical framework linking vehicle-level interactions and aggregate traffic dynamics and establishes a data-driven basis for the calibration and validation of traffic models for disordered mixed traffic systems.