A high-precision vehicle trajectory dataset in Shanghai

This is a dataset containing measurement trajectory data from a drone, as well as high-precision trajectory data with an error less than 5cm collected by centimetre-level progressing GNSS receivers. The sample size (number of trajectories of the experimental vehicle inside the intersection) of each measure method is 70, including 27 left-turn trajectories, 27 through trajectories and 16 right-turn trajectories.

本数据集包含无人机测量的轨迹数据，以及由厘米级精度的进展式全球导航卫星系统接收器收集的误差小于5厘米的高精度轨迹数据。每种测量方法（包括实验车辆在交叉口内部的轨迹）的样本量（轨迹数量）为70，其中包含27条左转轨迹、27条直行轨迹和16条右转轨迹。