AIM aggregated dataset of normal driving behavior at intersections

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.

meta table of car following

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

meta table of crossing

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