LC_NGSIM

lane change trajectories extracted from NGSIM

This dataset comes with the paper below

@INPROCEEDINGS{Dong2017_3,
   Author = {C. Dong, Y. Zhang and J. Dolan},
   Title = {Lane-Change Social Behavioral Generator for Autonomous Driving Car by Non-parametric Regression in Reproducing Kernel Hilbert Space.},
   Booktitle = {Proc. of The International Conference on Intelligent Robots and Systems (IROS)},
   Year = {2017},
   organization={IEEE}
}

Paper is accepted by IROS 2017

A related Ramp Merging Control paper is published in IV 2017, here is the accepted version Ramp merge data and full link to IEEE Xplore will be updated soon. To see the final version:

@INPROCEEDINGS{Dong2017_2,
   Author = {C. Dong, J.Dolan and B. Litkouhi},
   Title = {Intention Estimation For Ramp Merging Control In Autonomous Driving.},
   Booktitle = {Proc. of The Intelligent Vehicles Symposium (IV)},
   Year = {2017},
   organization={IEEE}
}

Source Code.

For source code, click here

Data description

nlc_data_5zones.mat

• nlc_data: cell, contains 870 sequences of none-lane-change scenarios.
  • veh_s: subjcet vehicle
    • x: Lateral position (m)
    • y: Longitudinal position (m)
    • len: Vehicle length (m)
    • wid: Vehicle width (m)
    • v: Vehicle speed (m/s)
    • a: Vehicle acceleration (m/s^2)
  • veh_f: front vehicle in current lane
  • veh_r: rear vehicle in current lane
  • veh_ft: front vehicle in target lane
  • veh_rt: rear vehicle in target lane
  • veh_st: overlap vehicle in target lane

lc_data_20s_withpoints.mat

• lc_data: Same structure as nlc_data
• points: array, n row, 2 column, [start, end]