FLUID: A Fine-Grained Lightweight Urban Signalized-Intersection Dataset of Dense Conflict Trajectories

<i>The FLUID dataset provides fine-grained trajectories with a unique focus on dense traffic conflicts at typical urban signalized intersections. Captured by drones, it contains approximately 5 hours of data covering over 20,000 traffic participants across three distinct intersection types. The dataset is distinguished by its high conflict rate (on average of 2.8 vehicle conflicts per minute across all scenes) and comes as a complete package with trajectories, traffic signals, maps, and raw videos, making it ideal for traffic behavior modeling and autonomous driving research.</i><br>2026-05-02: Fixed incorrect traffic light "cycle" calculation.<br>The Data descriptor has been published by <i>Scientific Data</i>. The title is “A Fine-Grained Lightweight Urban Signalized-Intersection Dataset of Dense Conflict Trajectories”.