leveLXData – Real-World Scenario Data

📃 Dataset Overview

  • Naturalistic trajectory dataset on four different recording locations
  • In total ~ 8200 vehicles and ~ 5300 vulnerable road users (VRUs)
  • All road users classes: car, truck/bus, pedestrians, bicyclists
  • Variety of intersections with different speed limits

⭐ High Quality and Variety

  • High tracking and classification accuracy
  • High positioning accuracy
  • Highly naturalistic trajectories
  • Excellent digital maps (lanelet2 and OpenDRIVE)

🛠️ Supplementary Data

  • ASAM OpenDRIVE maps
  • Lanelet2 maps

🚀 Easy Start

Provided scripts for Python here:

  • Parsing of provided files
  • Visualization of recorded trajectories

Download the format description here.

The inD dataset was created and published by a team from the Institute for Automotive Engineering (ika) of RWTH Aachen University to promote research in many different domains of mobility. The dataset can therefore be downloaded and used free of charge for academic and research purposes.

Method

The inD dataset is an innovative collection of vehicle trajectory data from German intersections, captured via drone to bypass common issues like occlusions seen in traditional traffic data collection. It encompasses traffic recordings from four distinct locations, detailing each road user’s movement and type. Leveraging advanced computer vision algorithms, the dataset achieves high positional accuracy. Its versatility makes it ideal for applications such as predicting road user behavior, driver modeling, scenario-based safety assessments for automated driving systems, and data-driven development of Highly Automated Driving (HAD) system components.

What’s included?

  • Georeferenced trajectory data (e.g. position, heading, lat./long. velocity/acceleration)
  • Recording Meta Information (e.g. frame rate, gps of location or # of objects)
  • Track Meta Information (e.g. road user type, size and class)
  • One digital map representation for each location in
    • OpenDRIVE format including 3D information (fbx & osgb)
    • Lanelet2 format
  • One aerial photograph of each location without road users

Digital Maps **NEW**

Our dataset includes detailed high-definition maps, enabling the analysis of trajectories in relation to the infrastructure. It supports both ASAM OpenDRIVE and Lanelet2 formats for comprehensive compatibility. Furthermore, these maps facilitate the seamless integration of our trajectory data into prominent simulation tools. To enhance this integration, we provide 3D environments corresponding to the maps in all major formats, including *.osgb and *.fbx, among others.

Applications

This dataset is incredibly versatile, serving a wide range of applications including road user prediction, driver behavior modeling, scenario-based safety validation for automated driving systems, and the development of components for Highly Automated Driving (HAD) systems. Its utility spans from enhancing the understanding of driving dynamics to supporting the refinement and innovation of autonomous vehicle technologies, thereby contributing significantly to advancements in the field of automated driving.

Citation

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:

@inproceedings{inDdataset,
    title={The inD Dataset: A Drone Dataset of Naturalistic Road User Trajectories at German Intersections},
    author={Bock, Julian and Krajewski, Robert and Moers, Tobias and Runde, Steffen and Vater, Lennart and Eckstein, Lutz},
    booktitle={2020 IEEE Intelligent Vehicles Symposium (IV)},
    pages={1929-1934},
    year={2020},
    doi={10.1109/IV47402.2020.9304839}
}

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.

    Full name (*) Official email address (*) Company/Insitut/University/Authority/Association (*)
    Project - please check all the options that apply to you (*)
    Please tell us about yourself, your position, your current (research) project and what exactly you would like to use the inD dataset for. Access will only be granted if all details are provided. (*)

    Commercial Use

    The inD 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.

    Analysis

    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 inD dataset, we used the same methodlogy to create more datasets. Specifically, the highD dataset covers trajectories of vehicles on German highways. The interactions of vehicles at entries and exits of German highways are captured in the exiD 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.

    Contact

    Institute for Automotive Engineering, RWTH Aachen University
    Vehicle Intelligence and Automated Driving
    Steinbachstraße 7
    52074 Aachen
    Germany

    leveLXData by fka GmbH
    Steinbachstraße 7
    52074 Aachen
    Germany

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