CitySim: A Drone-Based Vehicle Trajectory Dataset for Safety Oriented Research and Digital Twins

TL;DR

CitySim is a comprehensive drone-based vehicle trajectory dataset designed to support safety-critical research and digital twin applications, featuring high accuracy, diverse road geometries, and detailed safety event annotations.

Contribution

This paper introduces CitySim, a novel high-accuracy vehicle trajectory dataset from drone videos, including safety-critical event data and 3D mapping for digital twin research.

Findings

CitySim captures diverse road geometries and safety-critical events.

Enhanced trajectory accuracy through a five-step processing pipeline.

Supports safety evaluation and digital twin applications.

Abstract

The development of safety-oriented research and applications requires fine-grain vehicle trajectories that not only have high accuracy, but also capture substantial safety-critical events. However, it would be challenging to satisfy both these requirements using the available vehicle trajectory datasets do not have the capacity to satisfy both.This paper introduces the CitySim dataset that has the core objective of facilitating safety-oriented research and applications. CitySim has vehicle trajectories extracted from 1140 minutes of drone videos recorded at 12 locations. It covers a variety of road geometries including freeway basic segments, signalized intersections, stop-controlled intersections, and control-free intersections. CitySim was generated through a five-step procedure that ensured trajectory accuracy. The five-step procedure included video stabilization, object filtering, multi-video stitching, object detection and tracking, and enhanced error filtering. Furthermore, CitySim provides the rotated bounding box information of a vehicle, which was demonstrated to improve safety evaluations. Compared with other video-based critical events, including cut-in, merge, and diverge events, which were validated by distributions of both minimum time-to-collision and minimum post-encroachment time. In addition, CitySim had the capability to facilitate digital-twin-related research by providing relevant assets, such as the recording locations' three-dimensional base maps and signal timings.