Ford Highway Driving RTK Dataset: 30,000 km of North American Highways
This dataset supports research in vehicle positioning for automotive applications, but it is incremental as it primarily releases existing data for public use.
The paper introduces the Ford Highway Driving RTK dataset, which provides nearly 30,000 km of highway driving data from North America to address vehicle positioning needs for ADAS, V2X, and autonomous driving, with ground truth from survey-grade GNSS and IMU systems.
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.