SensoDat: Simulation-based Sensor Dataset of Self-driving Cars

SensoDat is a dataset of self-driving car simulation data (30K executed simulations). Concretely, it contains:

• Simulation description data in ASAM OpenDRIVE format
• Sensor data as time series of 81 sensors/properties

Associated Paper

@inproceedings{sensodat,
  author       = {Christian Birchler and
                  Cyrill Rohrbach and
                  Timo Kehrer and
                  Sebastiano Panichella},
  title        = {SensoDat: Simulation-based Sensor Dataset of Self-driving Cars},
  booktitle    = {21th {IEEE/ACM} International Conference on Mining Software Repositories,
                  {MSR} 2024, Lisbon, Portugal, April 15-16, 2024},
  year         = {2024},
  doi          = {to appear},
}

@article{sensodat-preprint,
  author       = {Christian Birchler and
                  Cyrill Rohrbach and
                  Timo Kehrer and
                  Sebastiano Panichella},
  title        = {SensoDat: Simulation-based Sensor Dataset of Self-driving Cars},
  journal      = {CoRR},
  volume       = {abs/2401.09808},
  year         = {2024},
  url          = {https://doi.org/10.48550/arXiv.2401.09808},
  doi          = {10.48550/ARXIV.2401.09808},
  eprinttype    = {arXiv},
  eprint       = {2401.09808},
}

Requirements

You need to have Docker installed and running.

NOTE: The following instructions were tested with Windows and Linux with 32GB RAM.

Automatic setup

To set up a MongoDB with the SDC simulation data, ensure Docker is up and running. Then simply execute the setup.sh (Linux/MacOS) or setup.bat (Windows) script.

Automatic clean up

To tear down the database simply execute the cleanup.sh (Linux/MacOS) or cleanup.bat (Windows) script.

Manual setup

Run the following commands in the exact order to setup the database:

Start an uploader and a mongo container:

docker compose -f ./environment/docker-compose.yml up -d --build

Verify the containers are up and running:

docker ps

Copy the data to the uploader container:

docker cp ./data uploader:/app/data

Unzip the data in the uploader container:

docker exec uploader unzip ./data/data.zip -d ./data

Copy the code to upload the data to the mongo container:

docker cp ./code uploader:/app/code

Upload the data to the mongo container:

docker exec -it uploader python ./code/fill_mongodb.py

To tear down the database when you don't need it anymore:

docker compose -f ./environment/docker-compose.yml up down

License

    SensoDat: Simulation-based Sensor Dataset of Self-driving Cars
    Copyright (C) 2024  Christian Birchler

    This program is free software: you can redistribute it and/or modify
    it under the terms of the GNU General Public License as published by
    the Free Software Foundation, either version 3 of the License, or
    (at your option) any later version.

    This program is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    GNU General Public License for more details.

    You should have received a copy of the GNU General Public License
    along with this program.  If not, see <https://www.gnu.org/licenses/>.