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arXiv · 2010.01774

Ford Highway Driving RTK Dataset: 30,000 km of North American Highways

Sarah E. Houts·Nahid Pervez·Umair Ibrahim·Gaurav Pandey·Tyler G. R. Reid
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Abstract

There is a growing need for vehicle positioning information to support Advanced Driver Assistance Systems (ADAS), Connectivity (V2X), and Autonomous Driving (AD) features. These range from a need for road determination ($<$5 meters), lane determination ($<$1.5 meters), and determining where the vehicle is within the lane ($<$0.3 meters). This paper presents the Ford Highway Driving RTK (Ford-HDR) dataset. This dataset includes nearly 30,000 km of data collected primarily on North American highways during a driving campaign designed to validate driver assistance features in 2018. This includes data from a representative automotive production GNSS used primarily for turn-by-turn navigation as well as an Inertial Navigation System (INS) which couples two survey-grade GNSS receivers with a tactical grade Inertial Measurement Unit (IMU) to act as ground truth. The latter utilized networked Real-Time Kinematic (RTK) GNSS corrections delivered over a cellular modem in real-time. This dataset is being released into the public domain to spark further research in the community.

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Sarah E. Houts, Nahid Pervez, Umair Ibrahim, Gaurav Pandey, Tyler G. R. Reid. 2020-10-05. Ford Highway Driving RTK Dataset: 30,000 km of North American Highways. https://doi.org/10.33012/2020.17686

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