[Pilots Performance Data] Data provided for KPI Calculation UC10 - Insertion

This dataset focuses on enhancing CAV behavior during insertion maneuvers in highway environments (A63 motorway). It covers two scenarios: Ego merging from an entry ramp and Ego on the main road with merging traffic. Data includes vehicle control commands (command_U/V), fuel consumption, ego state vectors, GPS, and perception data (detectionsfromCPM, embedded_detections). A virtual 'ghost' vehicle strategy is used to help the ego vehicle anticipate maneuvers. Reference position: WGS84 (latitude: 44.3202429, longitude: -0.8815343).本数据集旨在优化高速公路环境（A63高速公路）下联网自动驾驶车辆（Connected and Automated Vehicles，CAV）的车道汇入操作行为。其涵盖两类研究场景：一是自车从入口匝道汇入主路，二是主路中的自车面临汇入车流。数据集包含车辆控制指令（command_U/V）、燃油消耗量、自车状态向量、全球定位系统（GPS）数据以及感知数据（来自CPM的检测结果、嵌入式检测结果）。本研究采用虚拟“幽灵”车辆策略，辅助自车预判通行操作态势。参考坐标系采用世界大地测量系统1984（World Geodetic System 1984，WGS84），对应坐标为纬度44.3202429、经度-0.8815343。