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

TL;DR

The Ford-HDR dataset provides extensive real-world highway data with high-precision GNSS and INS measurements, supporting research in vehicle positioning for advanced driver assistance and autonomous driving systems.

Contribution

This paper introduces a large-scale, publicly available highway driving dataset with high-accuracy positioning data, including RTK GNSS and INS, collected on North American highways in 2018.

Findings

Nearly 30,000 km of highway data collected

High-precision RTK GNSS and INS data provided

Dataset supports research in vehicle positioning and ADAS

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.