Table 1 Labels for the uniformed data format.
From: A unified longitudinal trajectory dataset for automated vehicle
Label | Description | Notations and formulation | Unit |
|---|---|---|---|
Trajectory_ID | ID of the longitudinal trajectory. | \(i\in {\mathcal{I}}\). | N/A |
Time_Index | Common time stamp in one trajectory. | \(t\in {{\mathcal{T}}}_{i},i\in {\mathcal{I}}\). | s |
ID_LV | LV ID. | \({c}_{i}^{{\rm{l}}},i\in {\mathcal{I}}\). Label each AV with a different ID and all human-driving vehicles with -1. | N/A |
Type_LV | LV is an AV or human-driving vehicle. | Label AV with 1 and human-driving vehicles with 0. | N/A |
Pos_LV | LV position in the Frenet coordinate. | \({p}_{it}^{{\rm{l}}}={p}_{it}^{{\rm{f}}}+{h}_{it},i\in {\mathcal{I}},t\in {{\mathcal{T}}}_{i}\). | m |
Speed_LV | LV speed. | \({v}_{it}^{{\rm{l}}}=\frac{{p}_{i(t+1)}^{{\rm{l}}}-{p}_{it}^{{\rm{l}}}}{\Delta t},i\in {\mathcal{I}},t\in {{\mathcal{T}}}_{i}\). | m/s |
Acc_LV | LV acceleration. | \({a}_{it}^{{\rm{l}}}=\frac{{v}_{i(t+1)}^{{\rm{l}}}-{v}_{it}^{{\rm{l}}}}{\Delta t},i\in {\mathcal{I}},t\in {{\mathcal{T}}}_{i}\). | m/s2 |
ID_FAV | FAV ID. | \({c}_{i}^{{\rm{f}}},i\in {\mathcal{I}}\). Label each FAV with a different ID. | N/A |
Pos_FAV | FAV position in the Frenet coordinate. | \({p}_{it}^{{\rm{f}}}={p}_{i(t-1)}^{{\rm{f}}}+\Delta t\cdot {v}_{it}^{{\rm{f}}},i\in {\mathcal{I}},t\in {{\mathcal{T}}}_{i}\). | m |
Speed_FAV | FAV speed. | \({v}_{it}^{{\rm{f}}}=\frac{{p}_{i(t+1)}^{{\rm{f}}}-{p}_{it}^{{\rm{f}}}}{\Delta t},i\in {\mathcal{I}},t\in {{\mathcal{T}}}_{i}\). | m/s |
Acc_FAV | FAV acceleration. | \({a}_{it}^{{\rm{f}}}=\frac{{v}_{i(t+1)}^{{\rm{f}}}-{v}_{it}^{{\rm{f}}}}{\Delta t},i\in {\mathcal{I}},t\in {{\mathcal{T}}}_{i}\). | m/s2 |
Spatial_Gap | Bump-to-bump distance between two vehicles. | \({g}_{it}={p}_{it}^{{\rm{l}}}-{p}_{it}^{{\rm{f}}}-{l}^{{\rm{f}}}/2-{l}^{{\rm{l}}}/2,i\in {\mathcal{I}},t\in {{\mathcal{T}}}_{i}\), where lf and lf are the length of the LV and the FAV. | m |
Spatial_Headway | Distance between the center of two vehicles. | \({h}_{it}={p}_{it}^{{\rm{l}}}-{p}_{it}^{{\rm{f}}},i\in {\mathcal{I}},t\in {{\mathcal{T}}}_{i}\). | m |
Speed_Diff | Speed difference of the two vehicles. | \(\Delta {v}_{it}={v}_{it}^{{\rm{l}}}-{v}_{it}^{{\rm{f}}},i\in {\mathcal{I}},t\in {{\mathcal{T}}}_{i}\). | m/s |
