Dataset Open Access
AIM aggregated dataset of normal driving behavior at intersections
Zhang, Meng;
Trullos, Juan;
Junghans, Marek
As part of the Application Platform for Intelligent Mobility (AIM), the traffic situation of an intersection in Braunschweig (Germany) was recorded in order to better understand the behavior of road users. In the project L3pilot, the normal driving behavior at the intersection was analyzed. We focused on kinematic and interaction behaviour of a vehicle (turning left or right, going straight) with oncoming road users (VRU and motorised vehicles) and with lead vehicle. Altogether, 30 days of trajectory data of different months of 2018 and 2019 of the relevant scenarios were analyzed. The datasets include the aggregated parameters in the following scenarios:
- Scenario L1: left turning following vehicle from West to North interacting with the lead vehicle from West to North.
- Scenario L2: left turning vehicle from West to North interacting with oncoming vehicle from East to West.
- Scenario L3: left turning vehicle from West to North interacting with oncoming bicycle.
- Scenario R1: right turning following vehicle from East to North interacting with the lead vehicle from East to North.
- Scenario R2: right turning vehicle from East to North interacting with bicycle from East to West.
- Scenario S: straight driving following vehicle from East to West interacting with the lead vehicle from East to West.
| col | colname | unit | description |
| 1 | id | - | trial id |
| 2 | subscenario | - | the following vehicle stopped (stop) or not (non-stop) |
| 3 | m(v) | m/s | average velocity of following vehicle |
| 4 | max(v) | m/s | maximum velocity of following vehicle |
| 5 | sd(v) | m/s | standard deviation of velocity of following vehicle |
| 6 | mdn(v) | m/s | median velocity of following vehicle |
| 7 | m(ax) | m/s² | average longitudinal acceleration of following vehicle |
| 8 | max(ax) | m/s² | maximum longitudinal acceleration of following vehicle |
| 9 | min(ax) | m/s² | minimum longitudinal acceleration of following vehicle |
| 10 | sd(ax) | m/s² | standard deviation of longitudinal acceleration of following vehicle |
| 11 | mdn(ax) | m/s² | median longitudinal acceleration of following vehicle |
| 12 | duration | s | duration |
| 13 | m(d) | m | average distance to lead vehicle |
| 14 | min(d) | m | minimum distance to lead vehicle |
| 15 | m(THW) | s | average time headway |
| 16 | min(THW) | s | minimum time headway |
| 17 | m(TTC) | s | average time to collision |
| 18 | min(TTC) | s | minimum time to collision |
| 19 | v_min(TTC) | m/s | velocity of following vehicle at the minimum time to collision |
| 20 | a_min(TTC) | m/s² | acceleration of following vehicle at the minimum time to collision |
| 21 | THW_min(TTC) | s | time headway at the minimum time to collision |
| 22 | d_min(TTC) | m | distance to lead vehicle at the minimum time to collision |
| col | colname | unit | description |
| 1 | id | - | trial id |
| 2 | subscenario | - | vehicle yielded (yielding) or didn't yield (non-yielding) to the oncoming road user |
| 3 | m(v) | m/s | average velocity of following vehicle |
| 4 | max(v) | m/s | maximum velocity of following vehicle |
| 5 | sd(v) | m/s | standard deviation of velocity of following vehicle |
| 6 | mdn(v) | m/s | median velocity of following vehicle |
| 7 | m(ax) | m/s² | average longitudinal acceleration of following vehicle |
| 8 | max(ax) | m/s² | maximum longitudinal acceleration of following vehicle |
| 9 | min(ax) | m/s² | minimum longitudinal acceleration of following vehicle |
| 10 | sd(ax) | m/s² | standard deviation of longitudinal acceleration of following vehicle |
| 11 | mdn(ax) | m/s² | median longitudinal acceleration of following vehicle |
| 12 | duration | s | duration |
| 13 | PET | s | post encroachment time |
| 14 | m(TAdv) | s | average time advantage |
| 15 | min(TAdv) | s | minimum time advantage |
| 16 | v_min(TAdv)_id1 | m/s | Oncoming object’s velocity the moment of minimum time advantage |
| 17 | a_min(TAdv)_id1 | m/s² | Oncoming object’s acceleration in heading the moment of minimum time advantage |
| 18 | v_min(TAdv)_id2 | m/s | vehicle’s velocity the moment of minimum time advantage |
| 19 | a_min(TAdv)_id2 | m/s² | vehicle’s acceleration in heading the minimum time advantage |
| 20 | THW_min(TAdv)_id1 | s | Timeheadway oncoming object to the crossing area’s entering part the moment of minimum time advantage |
| 21 | THW_min(TAdv)_id2 | s | Timeheadway vehicle to the crossing area’s entering part the moment of minimum time advantage |
| 22 | d_min(TAdv)_id1 | m | Distance oncoming object to the crossing area’s entering part the moment of minimum time advantage |
| 23 | d_min(TAdv)_id2 | m | Distance vehicle to the crossing area’s entering part the moment of minimum time advantage |
Files
(17.9 MB)
| Name | Size | |
|---|---|---|
|
L1_aim_leftturn_carfollowing.csv
md5:aa9dd35161a0036617998469483639fe |
1.4 MB | Download |
|
L2_aim_leftturn_crossing_vehicle.csv
md5:a7b4e213d4041e93e8a814d14ce3ab45 |
3.4 MB | Download |
|
L3_aim_leftturn_crossing_bicycle.csv
md5:934bd6a9256f36de44683d9975d42852 |
454.0 kB | Download |
|
R1_aim_rightturn_carfollowing.csv
md5:7d5f174abfe4e82ac6eb8838990ba1a1 |
2.3 MB | Download |
|
R2_aim_rightturn_crossing_bicycle.csv
md5:3af069f14731a6fc830671a4adbd751e |
76.2 kB | Download |
|
S_aim_straight_carfollowing.csv
md5:de418d0d7b9b8b8c937cb70e826ce137 |
10.3 MB | Download |
234
214
views
downloads
| All versions | This version | |
|---|---|---|
| Views | 234 | 234 |
| Downloads | 214 | 214 |
| Data volume | 412.5 MB | 412.5 MB |
| Unique views | 204 | 204 |
| Unique downloads | 150 | 150 |
Indexed in
- Publication date:
- October 19, 2021
- DOI:
-
- Keyword(s):
- VRU, traffic behavior, intersection, turning, crossing, car following, real data
- Grants:
-
European Commission:
- L3Pilot - Piloting Automated Driving on European Roads (723051)
- License (for files):
- Creative Commons Attribution 4.0 International