TruckV2X: A Truck-Centered Perception Dataset

TL;DR

TruckV2X introduces a large-scale, truck-centered cooperative perception dataset with multi-modal sensors and multi-agent cooperation, addressing perception challenges unique to heavy-duty vehicles and enabling advancements in autonomous trucking safety and efficiency.

Contribution

It is the first comprehensive dataset focused on heavy-duty trucks for cooperative perception, including multi-modal data and multi-agent interactions, filling a critical gap in existing datasets.

Findings

Established performance benchmarks for truck perception.

Highlighted the importance of multi-agent cooperation for occlusion handling.

Suggested research priorities for heavy vehicle perception.

Abstract

Autonomous trucking offers significant benefits, such as improved safety and reduced costs, but faces unique perception challenges due to trucks' large size and dynamic trailer movements. These challenges include extensive blind spots and occlusions that hinder the truck's perception and the capabilities of other road users. To address these limitations, cooperative perception emerges as a promising solution. However, existing datasets predominantly feature light vehicle interactions or lack multi-agent configurations for heavy-duty vehicle scenarios. To bridge this gap, we introduce TruckV2X, the first large-scale truck-centered cooperative perception dataset featuring multi-modal sensing (LiDAR and cameras) and multi-agent cooperation (tractors, trailers, CAVs, and RSUs). We further investigate how trucks influence collaborative perception needs, establishing performance benchmarks while suggesting research priorities for heavy vehicle perception. The dataset provides a foundation for developing cooperative perception systems with enhanced occlusion handling capabilities, and accelerates the deployment of multi-agent autonomous trucking systems. The TruckV2X dataset is available at https://huggingface.co/datasets/XieTenghu1/TruckV2X.