LC_NGSIM
lane change trajectories extracted from NGSIM
This dataset comes with the paper below
@inproceedings{dong2017lane,
title={Lane-change social behavior generator for autonomous driving car by non-parametric regression in Reproducing Kernel Hilbert Space},
author={Dong, Chiyu and Zhang, Yihuan and Dolan, John M},
booktitle={Intelligent Robots and Systems (IROS), 2017 IEEE/RSJ International Conference on},
pages={4489--4494},
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, and an updated version: Ramp merge data and full link to IEEE Xplore will be updated soon. To see the final version:
@inproceedings{dong2017intention,
title={Intention estimation for ramp merging control in autonomous driving},
author={Dong, Chiyu and Dolan, John M and Litkouhi, Bakhtiar},
booktitle={Intelligent Vehicles Symposium (IV), 2017 IEEE},
pages={1584--1589},
year={2017},
organization={IEEE}
}
The original NGSIM program:
@article{
author={Alexiadis,Vassili and Colyar,James and Halkias,John and Hranac,Rob and McHale,Gene},
year={2004},
month={08},
title={The Next Generation Simulation Program},
journal={Institute of Transportation Engineers.ITE Journal},
volume={74},
number={8},
pages={22-26},
}
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
- veh_s: subjcet vehicle
lc_data_20s_withpoints.mat
- lc_data: Same structure as nlc_data
- points: array, n row, 2 column, [start, end]