Large Car-following Data Based on Lyft level-5 Open Dataset

Large Car-following Data Based on Lyft level-5 Open Dataset: Following Autonomous Vehicles vs. Human-driven Vehicles

Li, G. (TU Delft Transport and Planning)
Jiao, Y. (TU Delft Transport and Planning)
Knoop, V.L. (TU Delft Transport and Planning)
Calvert, S.C. (TU Delft Transport and Planning)
van Lint, J.W.C. (TU Delft Transport and Planning)

2023

Car-Following (CF), as a fundamental driving behaviour, has significant influences on the safety and efficiency of traffic flow. Investigating how human drivers react differently when following autonomous vs. human-driven vehicles (HV) is thus critical for mixed traffic flow. Research in this field can be expedited with trajectory datasets collected by Autonomous Vehicles (AVs). However, trajectories collected by AVs are noisy and not readily applicable for studying CF behaviour. This paper extracts and enhances two categories of CF data, HV-following-AV (H-A) and HV-following-HV (H-H), from the open Lyft level-5 dataset. First, CF pairs are selected based on specific rules. Next, the quality of raw data is assessed by anomaly analysis. Then, the raw CF data is corrected and enhanced via motion planning, Kalman filtering, and wavelet denoising. As a result, 29k+ H-A and 42k+ H-H car-following segments are obtained, with a total driving distance of 150k+ km. A diversity assessment shows that the processed data cover complete CF regimes for calibrating CF models. This open and ready-to-use dataset provides the opportunity to investigate the CF behaviours of following AVs vs. HVs from real-world data. It can further facilitate studies on exploring the impact of AVs on mixed urban traffic.

Car-following
trajectory dataset
autonomous vehicle
driving behaviour

http://resolver.tudelft.nl/uuid:239edf2e-8e04-4e9a-8fb9-c749e9dde5f9

https://doi.org/10.1109/ITSC57777.2023.10422574

2024-03-28

5818-5823

26th IEEE International Conference on Intelligent Transportation Systems, ITSC 2023, 2023-09-24 → 2023-09-28, Euskalduna Conference Centre, Bilbao, Spain

Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.

Institutional Repository

conference paper

© 2023 G. Li, Y. Jiao, V.L. Knoop, S.C. Calvert, J.W.C. van Lint