The Warrigal Dataset: Multi-Vehicle Trajectories and V2V Communications

Intelligent Transportation Systems rely on understanding, predicting and affecting the interactions between vehicles. Development of such systems must be based upon data derived from actual interactions if they are to be effective when used in real world applications. Increasingly, systems are being developed that are based on radio communication of state and intent between vehicles. Understanding of how these interactions occur is also necessary to creating robust systems. In order to test and compare new techniques, approaches and algorithms it is necessary to have a rich dataset to experiment with. This paper presents a detailed dataset useful for members of the Intelligent Transportation Systems community. It contains vehicle state information, vehicle-to-vehicle communications and road maps at high temporal resolution for large numbers of interacting vehicles over a long time period. This data set has already been used for a number of Intelligent Transportation Systems projects such as road mapping, driver intent prediction and collision avoidance among others.