论文标题
福特高速公路驾驶RTK数据集：北美高速公路30,000公里
Ford Highway Driving RTK Dataset: 30,000 km of North American Highways
论文作者
论文摘要
对车辆定位信息的需求越来越多，以支持高级驾驶员援助系统（ADA），连接（V2X）和自动驾驶（AD）功能。这些范围从对道路确定（$ <$ 5米），车道确定（$ <$ 1.5米）以及确定车辆在车道内（$ <$ 0.3米）的需求范围。本文介绍了福特高速公路驾驶RTK（Ford-HDR）数据集。 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.后者利用网络实时运动学（RTK）GNSS校正实时通过蜂窝调制解调器进行。该数据集已被释放到公共领域，以激发社区的进一步研究。
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.
