The main dataset is a 130 MB file of trajectory data (I90_94_moving_final.csv) that contains position, speed, and acceleration data for small and large automated (L2) and non-automated vehicles on a highway in an urban environment. Supporting files include aerial reference images for four distinct data collection “Runs” (I90_94_moving_RunX_with_lanes.png, where X equals 1, 2, 3, and 4). Associated centerline files are also provided for each “Run” (I-90-moving-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_94moving.csv” for more details). The dataset defines six northbound lanes 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 northbound lanes are shown visually from left to right in I90_94_moving_lane1.png through I90_94_moving_lane6.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 2 ADAS-equipped vehicles (one at a time) northbound through the 4 km long segment at an altitude of 200 meters. Once a vehicle finished the segment, the helicopter would return to the beginning of the segment to follow the next SAE Level 2 ADAS-equipped vehicle to ensure continuous data collection. The segment was selected to study mandatory and discretionary lane changing and last-minute, forced lane-changing maneuvers. The segment has five off-ramps and three on-ramps to the right and one off-ramp and one on-ramp to the left. All roads have 88 kph (55 mph) speed limits. The camera captured footage during the evening rush hour (3:00 PM-5:00 PM CT) on a cloudy day.

As part of this dataset, the following files were provided: I90_94_moving_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 automated test vehicles ("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. I90_94_moving_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 lanes) for each run X. I-90-moving-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 vertical locations in the reference image, respectively. The "ramp" columns define the type of roadway segment (0=no ramp, 1=on-ramps, 2=off-ramps, and 3=weaving segments). In total, the centerline files define six northbound lanes. Annotation on Regions.zip, which includes images that visually map lanes (I90_9