Online Legal Driving Behavior Monitoring for Self-driving Vehicles

In source data folder, we provide the source data of figures in manuscript.
In Supplementary Data folder, we provide the explanatory document about the dataset, along with some dataset segments of SIND dataset. In addition, we have provided a MATLAB version of the AD4CHE visualization program and a Python version of the SIND visualization program. The usage of the visualization program is attached in the respective folder. Recorded scenarios include the input and output data of the Field test. Original traffic law includes the original traffic laws and the subdivided version.