Comfort-oriented driving: performance comparison between human drivers and motion planners (Dataset)

The name of the dataset is derived from 'WOerden West Experiment on human Driving performance'. It contains 14 MAT files, each with the data of a recorded run from our on-road driving experiment with publicly recruited participants. The details of the study are described in an article currently in review at IEEE Transactions on Intelligent Transportation Systems. A link to the article will be added once it is available online. In each file, there are 5 struct variables: 'GPS', 'IMU', 'EST', 'Opt_AC' and 'Opt_MS'. GPS and IMU contain the raw measurement data from onboard sensors. EST is the optimal estimate of vehicle motion calculated from the measurements using the numerical optimization technique. Opt_AC and Opt_MS are the optimal motion profiles computed by our optimization-based motion planners, the former focusing on optimizing acceleration comfort while the latter on minimizing motion sickness.

本数据集名称源自“WOerden West 人类驾驶性能实验”（WOerden West Experiment on human Driving performance）。该数据集包含14个MAT格式文件，每个文件均记录了我们面向公开招募的受试者开展的道路驾驶实验中的单次行驶数据。本研究的详细内容已投稿至《IEEE智能交通系统汇刊》（IEEE Transactions on Intelligent Transportation Systems），目前处于审稿阶段；该论文的在线链接将在文章上线后补充公布。每个文件内包含5个结构体变量：'GPS'、'IMU'、'EST'、'Opt_AC'及'Opt_MS'。其中，GPS与IMU字段存储了车载传感器的原始测量数据；EST为通过数值优化技术基于实测数据计算得到的车辆运动最优估计结果；Opt_AC与Opt_MS均为基于优化算法的运动规划器生成的最优运动剖面，前者以优化加速度舒适性为目标，后者则以最小化运动病（晕车）为优化目标。