exiD数据集:德国高速公路高度交互场景的真实轨迹数据集

Tobias Moers, Lennart Vater, R. Krajewski, Julian Bock, A. Zlocki, L. Eckstein
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引用次数: 22

摘要

高度自动化车辆的开发和安全验证越来越依赖于数据和数据驱动的方法。在处理用于环境感知的传感器数据集时,通常使用公共和商业数据集来训练和评估基于机器学习的系统。对于自动驾驶系统的系统级评估和安全验证,真实世界的轨迹数据集对于过程中的几个任务具有重要价值,例如模拟测试、场景提取或道路用户代理模型的训练。地面记录方法,如配备传感器的车辆或基础设施传感器,有时会受到限制,例如,由于它们的视野。然而,配备摄像头的无人机提供了在没有车辆对车辆遮挡的情况下记录道路使用者的能力,也不会影响交通。高速公路无人机数据集(highD)表明,该记录方法在累积公里方面是高效的,已成为许多研究问题的基准数据集。由于交通密集,它包含许多车辆交互,但缺乏合并场景,这对高度自动化的车辆来说是一个挑战。因此,我们提出了这个名为exiD的高速公路无人机数据集,使用配备摄像头的无人机在德国高速公路的入口和出口进行记录。该数据集包含69172名道路使用者,分为汽车、卡车和货车,以及超过16小时的测量数据。对于非商业的公共研究,exiD数据集可以在https://www.exid-dataset.com上免费获得。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
The exiD Dataset: A Real-World Trajectory Dataset of Highly Interactive Highway Scenarios in Germany
Development and safety validation of highly automated vehicles increasingly relies on data and data-driven methods. In processing sensor datasets for environment perception, it is common to use public and commercial datasets for training and evaluating machine learning based systems. For system-level evaluation and safety validation of an automated driving system, real-world trajectory datasets are of great value for several tasks in the process, i.a. for testing in simulation, scenario extraction or training of road user agent models. Ground-based recording methods such as sensor-equipped vehicles or infrastructure sensors are sometimes limited, for instance, due to their field of view. Camera-equipped drones, however, offer the ability to record road users without vehicle-to-vehicle occlusion and without influencing traffic. The highway drone dataset (highD) has shown that the recording method is efficient in terms of cumulative kilometers and has become a benchmark dataset for many research questions. It contains many vehicle interactions due to dense traffic, but lacks merging scenarios, which are challenging for highly automated vehicles. Therefore, we propose this highway drone dataset called exiD, recorded using camera-equipped drones at entries and exits on the German Autobahn. The dataset contains 69 172 road users classified as car, truck and vans and a total amount of more than 16 hours of measurement data. For non-commercial public research, the exiD dataset is available free of charge at https://www.exid-dataset.com.
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