highD preprocessing

Author : Cha Jong Hyun, Master`s course in Ajou University Autonomous Control Laboratory

Contact : [email protected]

This repository is to add yaw to highD data set and plot the result or make video of the result.

highD is a German Drone dataset with trajectory information on German highway.
You can access the dataset with non-commercial use by sending a request to "https://www.highd-dataset.com/"
Also you can get highD tools at "https://github.com/RobertKrajewski/highD-dataset"

highD dataset format is as follows("https://www.highd-dataset.com/format")

Data format

1. Recording meta infromation (XX_recordingMeta.csv)

Name	Description	[Unit]
id	The id of the recording. Every recording has a unique id	[-]
frameRate	The frame rate which was used to record the video	[hz]
locationId	The id of the recording location. In total six different locations exist in the dataset	[-]
speedLimit	The speed limit of the driving lanes. In all recordings, the speed limit is the same for every driving lane	[m/s]
month	The month the recording was done	[-]
weekDay	The week day the recording was done	[-]
startTime	The start time at which the recording was done	[hh:mm]
duration	The duration of the recording	[s]
totalDrivenDistance	The total driven distance of all tracked vehicles	[m]
totalDrivenTime	The total driven time of all tracked vehicles	[s]
numVehicles	The number of vehicles tracked including cars and trucks	[-]
numCars	The number of cars tracked	[-]
numTrucks	The number of trucks tracked	[-]
upperLaneMarkings	The y positions of the upper lane markings. The positions are separated by a ";"	[m]
lowerLaneMarkings	The y positions of the lower lane markings. The positions are separated by a ";"	[m]

2. Track Meta Information (XX_tracksMeta.csv)

Name	Description	[Unit]
id	The id of the track. The ids are assigned in ascending order	[-]
width	The width of the post-processed bounding box of the vehicle. This corresponds to the length of the vehicle	[m]
height	The height of the post-processed bounding box of the vehicle. This corresponds to the width of the vehicle	[m]
initialFrame	The initial frame in which the vehicle track starts	[-]
finalFrame	The frame in which the track of the vehicle ends	[-]
numFrames	The total lifetime of the track as number of frames	[-]
class	The vehicle class of the tracked vehicle (Car or Truck)	[-]
drivingDirection	The driving direction of the vehicle. Either 1 for the left direction (upper lanes) or 2 for the right direction (lower lanes)	[-]
traveledDistance	The distance covered by the track	[m]
minXVelocity	The minimal velocity in driving direction	[m/s]
maxXVelocity	The maximal velocity in driving direction	[m/s]
meanXVelocity	The mean velocity in driving direction	[m/s]
minDHW	The minimal Distance Headway (DHW). This value is set to -1, if no preceding vehicle exists	[m]
minTHW	The minimal Time Headway (THW). This value is set to -1, if no preceding vehicle exists	[s]
minTTC	The minimal Time-to-Collision (TTC). This value is set to -1, if no preceding vehicle or valid TTC exists	[s]
numLaneChanges	Number of lane changes detected by changing lane id	[-]

3. Tracks (XX_tracks.csv)

Name	Description	[Unit]
frame	The current frame	[-]
id	The track's id	[-]
x	The x position of the upper left corner of the vehicle's bounding box	[m]
y	The y position of the upper left corner of the vehicle's bounding box	[m]
width	The width of the bounding box of the vehicle	[m]
height	The height of the bounding box of the vehicle	[m]
xVelocity	The longitudinal velocity in the image coordinate system	[m/s]
yVelocity	The lateral velocity in the image coordinate system	[m/s]
xAcceleration	The longitudinal acceleration in the image coordinate system	[m/s]
yAcceleration	The lateral acceleration in the image coordinate system	[m/s]
frontSightDistance	The distance to the end of the recorded highway section in driving direction from the vehicle's center	[m]
backSightDistance	The distance to the end of the recorded highway section in the opposite driving direction from the vehicle's center	[m]
dhw	The Distance Headway. This value is set to 0, if no preceding vehicle exists	[m]
thw	The Time Headway. This value is set to 0, if no preceding vehicle exists	[s]
ttc	The Time-to-Collision. This value is set to 0, if no preceding vehicle or valid TTC exists	[s]
precedingXVelocity	The longitudinal velocity of the preceding in the image coordinate system. This value is set to 0, if no preceding vehicle exists	[-]
precedingId	The id of the preceding vehicle in the same lane. This value is set to 0, if no preceding vehicle exists	[-]
followingId	The id of the following vehicle in the same lane. This value is set to 0, if no following vehicle exists	[-]
leftPrecedingId	The id of the preceding vehicle on the adjacent lane on the left in the direction of travel. This value is set to 0, if no such a vehicle exists	[-]
leftAlongsideId	The id of the adjacent vehicle on the adjacent lane on the left in the direction of travel. In order for a vehicle to be adjacent and not e.g. preceding, the vehicles must overlap in the longitudinal direction. This value is set to 0, if no such a vehicle exists	[-]
leftFollowingId	The id of the following vehicle on the adjacent lane on the left in the direction of travel. This value is set to 0, if no such a vehicle exists	[-]
rightPrecedingId	The id of the preceding vehicle on the adjacent lane on the right in the direction of travel. This value is set to 0, if no such a vehicle exists.	[-]
rightAlsongsideId	The id of the adjacent vehicle on the adjacent lane on the right in the direction of travel. In order for a vehicle to be adjacent and not e.g. preceding, the vehicles must overlap in the longitudinal direction. This value is set to 0, if no such a vehicle exists	[-]
rightFollowingId	The id of the following vehicle on the adjacent lane on the right in the direction of travel. This value is set to 0, if no such a vehicle exists	[-]
laneId	The IDs start at 1 and are assigned in ascending order. Since the Lane ids are derived from the positions of the lane markings, the first and last ids typically do not describe any useable lanes. For details, see the definition of the coordinate system	[-]

4. Coordinate system
   The Coordinate system of highD dataset is global coordinate system based on upper left corner of the image coordinate system
   (Source : "https://www.highd-dataset.com/format")

Adding yaw

As you can see in the dataformat above, there is no yaw or heading angle data of vehicle.
Assuming yaw is equal to the angle of the velocity vector, we can calculate the yaw of the vehicle using x and y velocity data.

yaw = arctan(yvelocity/xvelocity)

Get center point of vehicle

x,y position is not the center point of the vehicle in highD data, it`s the top left corner point of the vehicle.
You have to add the length, height of the vehicle to the x and y position.

Center_point_x = x + length/2

Center_point_y = y + height/2

Plot scene

Using MATLAB i made a simple code to plot the scene with yaw applied.
As you can see in the red circled data below, the lane changing vehicle is now turned to the direction its going to.

Run 'highD_preprocessing_plot.m' with data and function below in the same folder

01_tracks.csv

01_tracksMete.csv

draw_rectangle.m