Ford Highway Driving RTK Dataset: 30,000 km of North American Highways

Sarah E. Houts, Nahid Pervez, Umair Ibrahim, Gaurav Pandey, Tyler G.R. Reid

Abstract:	There is a growing need for vehicle positioning information to support Advanced Driver Assistance Systems (ADAS), Connectivity (V2X), and Autonomous Driving (AD) features. These range from a need for road determination (<5 meters), land determination (<1.5 meters), and determining where the vehicle is within the lane (<0.3 meters). This paper presents the Ford Highway Driving RTK (Ford-HDR) dataset. This dataset includes nearly 30,000 km of data collected primarily on North American highways during a driving campaign designed to validate driver assistance features in 2018. This includes data from a representative automotive production GNSS used primarily for turn-by-turn navigation as well as an Inertial Navigation System (INS) which couples two survey-grade GNSS receivers with a tactical grade Inertial Measurement Unit (IMU) to act as ground truth. The latter utilized networked Real-Time Kinematic (RTK) GNSS corrections delivered over a cellular modem in real-time. This dataset is being released into the public domain to spark further research in the community.
Published in:	Proceedings of the 33rd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2020) September 21 - 25, 2020
Pages:	612 - 620
Cite this article:	Houts, Sarah E., Pervez, Nahid, Ibrahim, Umair, Pandey, Gaurav, Reid, Tyler G.R., "Ford Highway Driving RTK Dataset: 30,000 km of North American Highways," Proceedings of the 33rd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2020), September 2020, pp. 612-620. https://doi.org/10.33012/2020.17686
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