This is the HEE (Highway Eagle Eye) data set. It consists of ~12000 individual vehicle trajectories (~4h), recorded by drones over a highway section (length ~600m) with an entry lane.
Important note: Keep in mind that this data set can be useful for experimental studies like ours cited below, but some aspects of it may be noisy, so it is only meant for experimental purposes. In particular, the measurements in the data set are partially noisy/distortet. Furthermore, unfortunately the "map.kml" in parts, is somewhat inaccurate.
This data set is published as part of a research paper. Therefore, if you are using this data set, please give the following reference:
Bibtex Code:
@inproceedings{geiger2021learning,
title={Learning Game-Theoretic Models of Multiagent Trajectories Using Implicit Layers},
author={Geiger, Philipp and Straehle, Christoph-Nikolas},
booktitle={Proceedings of the AAAI Conference on Artificial Intelligence},
volume={35},
number={6},
pages={4950--4958},
year={2021}
}
The paper can be found here.
Here are some preliminary scripts for loading/preprocessing and working with the data.
Generally, code for the abovementioned paper is available.
The file "objectposition.csv" contains vehicle trajectories. It is recorded by drones that flew over a highway section that includes an onramp/entry. It is a table where each row corresponds to one object (i.e., vehicle) measured at one time instance.
The file "map.kml" contains some lane bounday information.
"objectposition.csv" is the main data file. For each vehicle (objectid) and each timepoint (frameid), the position (longitude/latitude in world coordinates) etc. is given as one row.
Columns of "objectposition.csv" with explanations:
- objectpositionid: primary key
- objectid: reference to object
- videoid: reference to video (the data comprises several recording runs)
- frameid: reference to frame
- speed: current speed
- acceltan: tangential acceleration
- accellat: longitudinal acceleration
- latitude: latitude of the current position (geographic coordinate)
- longitude: longitude of the current position (geographic coordinate)
- angle: angle of the bounding box
Photos can be found in Section D.2 of the abovementioned paper.
The data is released unter the CC BY-SA 4.0 license as documented in the LICENSE.txt file.