Filed Experiment Data-AV Lane Change Experiment Data

Autonomous Vehicle (AV) technologies can significantly improve traffic safety and reduce traffic congestion, and have attracted much attention in recent years. Some companies have already begun AV testing on highways, such as Waymo, Tesla and Ford. For AV, lane change is a fundamental part which could comprises path planning and path following control. This folder contains data of all vehicle particpiated in the lane change experiment. The data set contains two main floders, namely AV Lane Change Data and HV Lane Change Data. AV lane change data means the vehicle 3 is driven by computer commands, and HV means vehicle 3 is driven by human driver. The data is originzed as standard NMEA GPS message.

Global Positioning System Fix Data

Name Example Data Description

1. Sentence Identifier $GPGGA Global Positioning System Fix Data
2. Time(Just for reference) 170834 17:08:34 Z
3. Latitude 4124.8963, N
4. Longitude 08151.6838, W
5. Fix Quality:
6. Number of Satellites 05 5 Satellites are in view
7. Horizontal Dilution of Precision (HDOP) 1.5 Relative accuracy of horizontal position
8. Altitude 280.2, M 280.2 meters above mean sea level
9. Height of geoid above WGS84 ellipsoid -34.0, M -34.0 meters
10. Time since last DGPS update blank No last update
11. DGPS reference station id blank No station id
12. Checksum *75 Used by program to check for transmission errors

Data Visualization

This section visualized the trajectory of vehicles in experiments. First, for data processing, the GPS data (GPGGA Global Positioning System Fix Data) is transferred to the Universal Transverse Mercator (UTM); the time formed in ‘hhmmss’ is transferred to the seconds. The four vehicles had processed several round trips on a straight road. The trajectory of four vehicles in the whole data is shown in the following figure. Vehicle trajectory of AV lane change experiment

Among the several round trips, some of the trips achieved success in lane-changing behavior. The following figure shows change of X-position in UTM coordinate along the time of one successful AV lane-change process (from 10:01:50.4 to 10:03:10.4). Vehicle trajectory of one successful AV lane-change process

This work is published under the CC BY-SA 4.0 licesne.

Please cite the following papers when using this dataset

Li, Q., Li, X., Huang, Z., Halkias, J., McHale, G., & James, R. (2021). Simulation of mixed traffic with cooperative lane changes. Computer‐Aided Civil and Infrastructure Engineering.

Wang, Z., Zhao, X., Xu, Z., Li, X., Qu, X. (2021). Modeling and field experiments on lane changing of an autonomous vehicle in mixed traffic. Computer-Aided Civil and Infrastructure Engineering, 36(7), 877-889. https://doi.org/10.1111/mice.12540