CitySim: A Drone-Based Vehicle Trajectory Dataset for Safety-Oriented Research and Digital Twins

The development of safety-oriented research and applications requires fine-grain vehicle trajectories that not only have high accuracy, but also capture substantial safety-critical events. However, it would be challenging to satisfy both these requirements using the available vehicle trajectory datasets do not have the capacity to satisfy both. This paper introduces the CitySim dataset that has the core objective of facilitating safety-oriented research and applications. CitySim has vehicle trajectories extracted from 1,140-min of drone videos recorded at 12 locations. It covers a variety of road geometries including freeway basic segments, weaving segments, expressway merge/diverge segments, signalized…