Road Spray in Lidar and Radar Data for Individual Moving Objects

Simulation-based testing supports the challenging task of safety validation of automated driving functions. Virtual testing always entails the modeling of automotive perception sensors and their environment. In the real world, these sensors are not only exposed to weather conditions like rain, fog, snow etc., but environmental influences also appear locally. Road spray is one of the more challenging occurrences, because it involves other moving objects in the scenario. This data set is designed to systematically analyze the influence of road spray on lidar and radar sensors. It consists of sensor measurements of two vehicle classes driving over asphalt with three water levels to differentiate multiple influence factors.