leveLXData – Real-World Scenario Data
The Exits and Entries Drone Dataset
Naturalistic Trajectories of Vehicles Recorded at Exits and Entries of German Highways

About the Dataset

The exiD dataset is a new dataset of naturalistic road user trajectories recorded at exits and entries of highways in Germany. Using a drone, typical limitations of established traffic data collection methods like occlusions are overcome. The trajectory for each road user and its type is extracted. Using state-of-the-art computer vision algorithms, the positional error is typically less than 10 centimetres. The dataset is applicable on many tasks such as road user prediction, driver modeling, scenario-based safety validation of automated driving systems or data-driven development of HAD system components.

🚚 All Types of Road Users

The dataset includes:

  • Cars
  • Vans
  • Trucks

⭐ High Quality and Variety

The dataset features:

  • Seven different recording locations
  • Typical positioning error <10 cm
  • Different types of cutin maneuvers

🚀 Easy Start

Provided scripts for Python here:

  • Parsing of provided files
  • Visualization of recorded trajectories

Download the format description here.


Our paper introducing the dataset and the used methods is published at the IEEE IV 2022 and available here. To reference the dataset, please use:

    title={The exiD Dataset: A Real-World Trajectory Dataset of Highly Interactive Highway Scenarios in Germany},
    author={Moers, Tobias and Vater, Lennart and Krajewski, Robert and Bock, Julian and Zlocki, Adrian and Eckstein, Lutz},
    booktitle={2022 IEEE Intelligent Vehicles Symposium (IV)},

Application for Access for Non-Commercial Use

To apply for access to the dataset, please send us a request using this form. Please note that each request is checked manually. Therefore, make sure that that your answers are complete, detailed and correct. If any ambiguities arise, we may contact you for clarification purposes.

    Commercial Use

    The exiD dataset is free for non-commercial use only. If you are interested in commercial use, please visit https://levelxdata.com. Under levelXdata, fka GmbH combines its expertise in the field of data acquisition and processing for all stages of automated driving.

    Full Usage Rights

    Acquire the rights to use the dataset for commercial purposes and develop your own commercial applications and solutions.


    The leveLXData team can provide or support your analyses, evaluations and also parameterization of models on the basis of the data.

    Individual Solutions

    leveLXData can tailor a dataset for your requirement, either from an extensive database or based on new traffic recordings along your needs.

    More Datasets

    In addition to the exiD dataset, we used the same methodlogy to create more datasets. Specifically, the highD dataset covers trajectories of vehicles on German highways. The highly interactive behavior of road users at urban intersections is captured in the inD dataset.

    The rounD dataset contains trajectories of road users at roundabouts in Germany. Similarly the uniD dataset covers the behavior of road users at the RWTH Aachen University Campus. Find out more about these datasets on the individual websites.


    leveLXData by fka GmbH
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    52074 Aachen