The development of safety-oriented research ideas and applications requires fine-grained vehicle trajectory data that not only has high accuracy but also captures a substantial number of critical safety events. This paper introduces the CitySim Dataset, which was devised with a core objective of facilitating safety-based research and applications. CitySim currently has vehicle trajectories extracted from 1140-minutes of drone videos@30 FPS recorded at 12 different locations and we are adding more location. It covers a variety of road geometries including freeway basic segments, weaving segments, expressway merge/diverge segments, signalized intersections, stop-controlled intersections, and intersections without sign/signal control. CitySim trajectories were generated through a five-step procedure which ensured the trajectory accuracy. Furthermore, the dataset provides vehicle rotated bounding box information which is demonstrated to improve safety evaluation. Compared to other video-based trajectory datasets, the CitySim Dataset has significantly more critical safety events with higher severity including cut-in, merge, and diverge events. In addition, CitySim facilitates research towards digital twin applications by providing relevant assets like the recording locations'3D base maps and signal timings. These features enable more comprehensive conditions for safety research and applications such as autonomous vehicle safety and location-based safety analysis.
| Sample Data | Full Data Access |
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| Click to Downlaod Sample Data | Please send us a request form (Download form here ) to this email: citysim.ucfsst@gmail.com |
The dataset documentation and file format description can be found here.
| University @ Alafaya (Signalized Intersection) | McCulloch @ Seminole (Non-Signalized Intersection) |
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| University @ McCulloch (Signalized Intersection) | UCF Garage C (Consecutive Signalized Intersections) |
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| Roundabout A (One lane roundabout) | Roundabout B (Two lane roundabout(TBA)) |
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| Expressway A (Weaving Segment) |  |
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| Expressway A (Weaving Segment)-Rainning (TBA) |  |
| Freeway B (Basic Segment) |  |
| Freeway C (Merge/Diverge Segment) |  |
| Digital Twin Base Map | Sumo Carla Co-Simulation | Signal Timing Extraction |
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| VR Driving Simulation | Autonomous Vehicle Simulation | Sensor Simulation |
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| Speed Analysis | Surrogate Safety Measures | Crash Analysis |
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UCF-SST Automated Roadway Conflicts Identify System (A.R.C.I.S)
Lishengsa Yue | Amr Abdelraouf | Nada Mahmoud
If you use CitySim Dataset in your research , please use the following BibTeX entry.
@misc{https://doi.org/10.48550/arxiv.2208.11036,
doi = {10.48550/ARXIV.2208.11036},
url = {https://arxiv.org/abs/2208.11036},
author = {Zheng, Ou and Abdel-Aty, Mohamed and Yue, Lishengsa and Abdelraouf, Amr and Wang, Zijin and Mahmoud, Nada},
title = {CitySim: A Drone-Based Vehicle Trajectory Dataset for Safety Oriented Research and Digital Twins},
publisher = {arXiv},
year = {2022}
}See publication built on top of CitySim and ARCIS.