| SDAV — SmartData for Autonomous Vehicles | Manager |
Artery Dataset: SmartData Model
1. Dataset Description
This dataset is a recording of approximately 60 minutes of vehicles driving in the Artery simulator. Figure 1 shows the map vehicles drive in. Each vehicle follows a random driving pattern. We record vehicle dynamics. Data is collected every 100 ms.
1.1. Vehicular Dynamics
Vehicular dynamics are recorded through a set of sensors capturing velocity and acceleration. The vehicle itself is assumed to be aware of its geographical location, for instance, given by a GPS according to WSG84 coordinate system. Therefore, its location is described by latitude, longitude, and altitude. The location given by the GPS sensor shall be corrected to match the center of its bounding box. Moreover, its heading is obtained as the angle in relation to the north coordinate defined by WSG84 (see Figure 2).
Vehicles and perception objects are described through a motion vector based on the Constant Turn Rate and Velocity (CTRV) motion model. This model describes motion through the xy plane, the norm of the velocity vector, the heading angle and the yaw rate. Below are the state space and state transition equation:
The data captured in the simulation is described in the table below with the unit for SmartData and the related SI unit.
| Description | Unit | Desc | Semantics |
|---|---|---|---|
| Velocity | 0xC4963924 (F32) | m/s | Velocity in heading vector. |
| Heading | 0xC4B24924 (F32) | rad | Yaw angle in radians. |
| Angular Velocity | 0xC4B23924 (F32) | rad/s | Gyroscopes Yaw rate in rad/s. |
| Acceleration | 0xC4962924 (F32) | m/s² | Acceleration in heading vector. |
1.2. Vehicular Environment Perception
Vehicles perform environmental perception in the simulation and store the perceived objects as motion vectors. For ease of use, each object is stored using the global reference.
| Description | Unit | Desc | Semantics |
|---|---|---|---|
| Position | 0xC4B24924 (F32) | rad | Estimated object position in latitude, longitude, altitude. |
| Velocity | 0xC4963924 (F32) | m/s | Estimated velocity in heading vector. |
| Heading | 0xC4B24924 (F32) | rad | Estimated yaw angle in radians. |
| Angular Velocity | 0xC4B23924 (F32) | rad/s | Estimated yaw rate in rad/s. |
| Acceleration | 0xC4962924 (F32) | m/s² | Estimated acceleration in heading vector. |
2. Dataset
The dataset can be downloaded here along with an example reader. The data is stored in the csv format with the columns timestamp, id, lat, lon, alt, x, y, z, speed, heading, yawrate and acceleration.
Note that, while the files are numbered sequentially, the vehicle IDs are not sequential. Vehicle IDs are generated based on ETSI ITS pseudonym rules. The timestamps of the data are in simulation time, following the 10Hz generation. The table below shows the vehicle IDs in order, and the start and end timestamps.
| Description | Values |
|---|---|
| Vehicle IDs | 1124, 1272, 1947, 680, 1426, 1503, 532, 757, 313, 2101, 1580, 1870, 1349, 2024, 1047 |
| Start Timestamp (t0) | 1748768400000000 |
| End Timestamp (tf) | 1748772002000000 |