A Comprehensive Review on Traffic Datasets and Simulators for Autonomous Vehicles

Autonomous driving has rapidly developed and shown promising performance due to recent advances in hardware and deep learning techniques. High-quality datasets are fundamental for developing reliable autonomous driving algorithms. Previous dataset surveys either focused on a limited number or lacked detailed investigation of dataset characteristics. Besides, we analyze the annotation processes, existing labeling tools, and the annotation quality of datasets, showing the importance of establishing a standard annotation pipeline. On the other hand, we thoroughly analyze the impact of geographical and adversarial environmental conditions on the performance of autonomous driving systems. Moreover, we exhibit the data distribution of several vital datasets and discuss their pros and cons accordingly. Additionally, this paper provides a comprehensive analysis of publicly available traffic simulators. In addition to informing about traffic datasets, it is also the goal of this paper to provide context and information on the current capabilities of traffic simulators for their specific contributions to autonomous vehicle simulation and development. Furthermore, this paper discusses future directions and the increasing importance of synthetic data generation in simulators to enhance the training and creation of effective simulations. Finally, we discuss the current challenges and the development trend of future autonomous driving datasets.

Beacon: A Naturalistic Driving Dataset During Blackouts for Benchmarking Traffic Reconstruction and Control

Extreme weather events and other vulnerabilities are causing blackouts with increasing frequency, disrupting traffic control systems and posing significant challenges to urban mobility. To address this growing concern, we introduce \model{}, a naturalistic driving dataset collected during blackouts at complex intersections. Beacon provides detailed traffic data from two unsignalized intersections in Memphis, TN, including timesteps, origin, and destination lanes for each vehicle over four hours. We analyze traffic demand, vehicle trajectories, and density across different scenarios. We also use the dataset to reconstruct unsignalized, signalized and mixed traffic conditions, demonstrating its utility for benchmarking traffic reconstruction techniques and control methods. To the best of our knowledge, Beacon could be the first public available traffic dataset that captures naturalistic driving behaviors at complex intersections.