Vehicle CAN bus data (with GPS)

The dataset contains 20Hz sampled CAN bus data from a passenger vehicle, e.g. WheelSpeed FL (speed of the front left wheel), SteerAngle (steering wheel angle), Role, Pitch, and accelerometer values per direction. In contrast to the dataset published at https://zenodo.org/record/2658168#.XMw2m6JS9PY we now have GPS data from the vehicle (see signals 'Latitude_Vehicle' and 'Longitude_Vehicle' in h5 group 'Math') and GPS data from the IMU device (see signals 'Latitude_IMU', 'Longitude_IMU' and 'Time_IMU' in h5 group 'Math') included. However, as it was exported with single_precision, therefore we lost some precision for those GPS values. We are currently looking for a solution and will update the records if possible. For data analysis we use R and R Studio (https://www.rstudio.com/) and the library h5. e.g. check file with R code: library(h5) f &lt;- h5file("file path/20181113_Driver1_Trip1.hdf") summary(f["CAN/Yawrate1"][,]) summary(f["Math/Latitude_IMU"][,]) h5close(f)本数据集包含某乘用车以20Hz频率采样的控制器局域网（Controller Area Network, CAN）总线数据，涵盖前轮左轮速（WheelSpeed FL）、方向盘转角（SteerAngle）、侧倾角（Roll）、俯仰角（Pitch）以及各轴向加速度计读数。 与发布于https://zenodo.org/record/2658168#.XMw2m6JS9PY的公开数据集相比，本数据集新增了车辆GPS数据（位于H5组'Math'下的信号'Latitude_Vehicle'与'Longitude_Vehicle'）以及惯性测量单元（Inertial Measurement Unit, IMU）设备的GPS数据（位于H5组'Math'下的信号'Latitude_IMU'、'Longitude_IMU'与'Time_IMU'）。但由于数据以单精度格式导出，此类GPS数据的精度存在一定损失。 目前我们正在寻求解决方案，若可行将对数据集记录进行更新。 本数据集的数据分析采用R语言、R Studio（https://www.rstudio.com/）及h5库完成。 例如可通过如下R代码校验文件： r library(h5) f <- h5file("file path/20181113_Driver1_Trip1.hdf") summary(f["CAN/Yawrate1"][,]) summary(f["Math/Latitude_IMU"][,]) h5close(f)