The main dataset is a 304 MB file of trajectory data (I90_94_stationary_final.csv) that contains position, speed, and acceleration data for small and large automated (L2) vehicles and non-automated vehicles on a highway in an urban environment. Supporting files include aerial reference images for six distinct data collection “Runs” (I90_94_Stationary_Run_X_ref_image.png, where X equals 1, 2, 3, 4, 5, and 6). Associated centerline files are also provided for each “Run” (I-90-stationary-Run_X-geometry-with-ramps.csv). In each centerline file, x and y coordinates (in meters) marking each lane centerline are provided. The origin point of the reference image is located at the top left corner. Additionally, in each centerline file, an indicator variable is used for each lane to define the following types of road sections: 0=no ramp, 1=on-ramps, 2=off-ramps, and 3=weaving segments. The number attached to each column header is the numerical ID assigned for the specific lane (see “TGSIM – Centerline Data Dictionary – I90_94Stationary.csv” for more details). The dataset defines six northbound lanes using these centerline files. Twelve different numerical IDs are used to define the six northbound lanes (1, 2, 3, 4, 5, 6, 10, 11, 12, 13, 14, and 15) depending on the run. Images that map the lanes of interest to the numerical lane IDs referenced in the trajectory dataset are stored in the folder titled “Annotation on Regions.zip”. Lane IDs are provided in the reference images in red text for each data collection run (I90_94_Stationary_Run_X_ref_image_annotated.jpg, where X equals 1, 2, 3, 4, 5, and 6).

This dataset was collected as part of the Third Generation Simulation Data (TGSIM): A Closer Look at the Impacts of Automated Driving Systems on Human Behavior project. During the project, six trajectory datasets capable of characterizing human-automated vehicle interactions under a diverse set of scenarios in highway and city environments were collected and processed. For more information, see the project report found here: https://rosap.ntl.bts.gov/view/dot/74647. This dataset, which is one of the six collected as part of the TGSIM project, contains data collected using the fixed ___location aerial videography approach with one high-resolution 8K camera mounted on a helicopter hovering over a short segment of I-94 focusing on the merge and diverge points in Chicago, IL. The altitude of the helicopter (approximately 213 meters) enabled the camera to capture 1.3 km of highway driving and a major weaving section in each direction (where I-90 and I-94 diverge in the northbound direction and merge in the southbound direction). The segment has two off-ramps and two on-ramps in the northbound direction. All roads have 88 kph (55 mph) speed limits. The camera captured footage during the evening rush hour (4:00 PM-6:00 PM CT) on a cloudy day. During this period, two SAE Level 2 ADAS-equipped vehicles drove through the segment, entering the northbound direction upstream of the target section, exiting the target section on the right through I-94, and attempting to perform a total of three lane-changing maneuvers (if safe to do so). These vehicles are indicated in the dataset.

As part of this dataset, the following files were provided: I90_94_stationary_final.csv contains the numerical data to be used for analysis that includes vehicle level trajectory data at every 0.1 second. Vehicle type, width, and length are provided with instantaneous ___location, speed, and acceleration data. All distance measurements (width, length, ___location) were converted from pixels to meters using the following conversion factor: 1 pixel = 0.3-meter conversion. I90_94_Stationary_Run_X_ref_image.png are the aerial reference images that define the geographic region for each run X. I-90-stationary-Run_X-geometry-with-ramps.csv contain the coordinates that define the lane centerlines for each Run X. The "x" and "y" columns represent the horizontal and ve