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

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

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_94_moving_lane1.png through I90_94_moving_lane6.png) to their associated numerical lane IDs.

The main dataset is a 9 MB file of trajectory data (I294_L2_final.csv) that contains position, speed, and acceleration data for small and large automated (L2) and non-automated vehicles on a highway in a suburban environment. Supporting files include aerial reference images for twelve distinct data collection “Runs” (I294_L2_Run_X_ref_image_with_lanes.png, where X equals 5, 28, 30, 36, 38, and 42 for southbound runs and 23, 29, 31, 33, 35, and 41 for northbound runs). Associated centerline files are also provided for each “Run” (I-294-L2-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 L2.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_L2_lane-2.png through I294_L2_lane-5.png and the northbound lanes are shown visually in I294_L2_lane2.png through I294_L2_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 two SAE Level 2 ADAS-equipped vehicles through automated lane change maneuvers and as part of a string once the desired lane was achieved and ACC was enabled. 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 automated lane changes and as part of a string. The road segment has four lanes in each direction and covers a major on-ramp and one off-ramp in the southbound direction and one on-ramp as well as two off-ramps 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 cloudy day.

As part of this dataset, the following files were provided:

• I294_L2_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 L2 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.
• I294_L2_Run_X_ref_image_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.
• I294_L2_Run_X-geometry-with-ramps.csv contain the coordinates that define the lane centerlines for each Run X. T

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://res1rosapd-o-tntld-o-tbtsd-o-tgov.vcapture.xyz/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