The main dataset is a 70 MB file of trajectory data (I294_L1_final.csv) that contains position, speed, and acceleration data for small and large automated (L1) vehicles and non-automated vehicles on a highway in a suburban environment. Supporting files include aerial reference images for ten distinct data collection “Runs” (I294_L1_RunX_with_lanes.png, where X equals 8, 18, and 20 for southbound runs and 1, 3, 7, 9, 11, 19, and 21 for northbound runs). Associated centerline files are also provided for each “Run” (I-294-L1-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 – I294 L1.csv” for more details). The dataset defines eight lanes (four lanes in each direction) using these centerline files. 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”. The southbound lanes are shown visually in I294_L1_Lane-2.png through I294_L1_Lane-5.png and the northbound lanes are shown visually in I294_L1_Lane2.png through I294_L1_Lane5.png.

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 one high-resolution 8K camera mounted on a helicopter that followed three SAE Level 1 ADAS-equipped vehicles with adaptive cruise control (ACC) enabled. The three vehicles manually entered the highway, moved to the second from left most lane, then enabled ACC with minimum following distance settings to initiate a string. The helicopter then followed the string of vehicles (which sometimes broke from the sting due to large following distances) northbound through the 4.8 km section of highway at an altitude of 300 meters. The goal of the data collection effort was to collect data related to human drivers' responses to vehicle strings. The road segment has four lanes in each direction and covers major on-ramp and an off-ramp in the southbound direction and one on-ramp in the northbound direction. The segment of highway is operated by Illinois Tollway and contains a high percentage of heavy vehicles. The camera captured footage during the evening rush hour (3:00 PM-5:00 PM CT) on a sunny day.

As part of this dataset, the following files were provided: I294_L1_final.csv contains the numerical data to be used for analysis that includes vehicle level trajectory data at every 0.1 second. Vehicle size (small or large), width, length, and whether the vehicle was one of the test vehicles with ACC engaged ("yes" or "no") 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. I294_L1_RunX_with_lanes.png are the aerial reference images that define the geographic region and associated roadway segments of interest (see bounding boxes on northbound and southbound lanes) for each run X. I-294-L1-Run_X-geometry-with-ramps.csv contain the coordinates that define the lane cent