Waterloo multi-agent traffic dataset: intersection

Recorded with an overhead drone at a busy urban intersection (University Ave. and Weber St.) in Waterloo, Canada. Duration of the dataset is 1 hour long.

The dataset is split into the following components:

  • Database files: These are SQLite DB files that contain contextual information of each agent in the dataset and the trajectories.
  • Annotated videos: These are videos of the the recorded drone footage with each agent annotated with their corresponding id.

List of tables

CONFLICT_POINTS

This table lists all the conflict points in the intersection scenario. Conflict points belong to two or more paths that are in conflict with each other. Currently the data definition supports only conflict between two paths. If there are multiple lanes in conflict, there is one conflict point for all two-path combinations of the conflicting lanes. This table is the same for all file ids in the dataset.
Column Name Description
ID
Conflict point id
PATH_1
One of the paths that lead to the conflict point. The form of the path is : [ln_<direction_of_entry>_<entry_lane_id>, [ln_< direction_of_exit>_<exit_lane_id>]. E.g. [ln_s_3, ln_n_-2] : Path from South entry lane 3 to North exit lane -2. Lane id are numbered as follows: Entry lanes: Numbered + (positive) from left to right of lane direction. Exit lanes: Numbered - (negative) from left to right of lane direction.
PATH_1_GATES
Lane Gate ids along PATH_1.
"PATH_2
One of the paths that lead to the conflict point. Format is same as PATH_1.
PATH_2_GATES
Lane Gate ids along PATH_2.
X_POSITION
UTM lateral co-ordinate (zone 17T) of the conflict point location
Y_POSITION
UTM longitudinal co-ordinate (zone 17T) of the conflict point location
SIGNAL_STATE_PATH_1
The traffic signal states of PATH_1 for the current conflict point to be active from PATH_1's perspective
SIGNAL_STATE_PATH_2
The traffic signal states of PATH_2 for the current conflict point to be active from PATH_1's perspective
POINT_LOCATION
Indicates whether the conflict point is location on the intersection or after (e.g. conflict between North to West turning vehicles using dedicated right turn and South to West turning vehicles.)
Discrete Value Description
ON_INTERSECTION
Conflict point is located within the intersection.
AFTER_INTERSECTION
Conflict point is located after crossing the intersection.

GATE_CROSSING_EVENTS

This table contains information about the agent trajectories in relation to gate crossings.
Column Name Description
GATE_ID
Unique ID of the gate that the trajectory crosses
GATE_TYPE
The type of the gate. See additional column info below
Discrete Value Description
LANE_GATE
These gates are entry and exit gates to the intersections. Each entry lane to the intersection ends in an entry gate and each exit lane of the intersection starts at an exit gate.
SEGMENT_GATE
These gates are entry gate to each traffic segment within a lane.
TRACK_ID
Track ID of the agent in the file.
TYPE
IMAGE_ID
TIME
Time in seconds into the file that the agent crosses this gate.
SPEED
The speed in kilometers per hour of the agent at the time of crossing this gate
TAN_ACC
The tangential acceleration in meters per second squared of the agent at the time of crossing this gate
LAT_ACC
The lateral acceleration in meters per second squared of the agent at the time of crossing this gate
HEADWAY_S
HEADWAY_M
YAW
The yaw in radians of the agent at the time of crossing this gat

L1_ACTIONS

This table stores the observed high-level maneuver of each agent sampled at a frequency of 1hz.
Column Name Description
TIME
Time in seconds into the current file recording
TRACK_ID
Track ID of the agent in the file.
L1_ACTION
High level maneuver executed by the vehicle. The format is 4 digit code as follows : [maneuver code (2)][maneuver mode (2)]. Maneuver modes are either 01:aggressive or 02:normal. Aggressive manevers are actions with maximum absolute acceleration or deceleration greater than 2 meters per second squared. The description of each maneuver code is are listed below.
Discrete Value Description
01
wait for oncoming vehicle - Applies to left and right turning vehicles. The action of waiting for a vehicle that has the right of way.
02
proceed-turn - Applies to left and right turning vehicles. Action of executing the turn
03
track-speed - Applies to straight through vehicles. Trajectory accelerates or decelerates to road speed limit.
04
follow_lead - Applies to straight through vehicles vehicles with a lead vehicle.
05
decelerate-to-stop - Indicates vehicles coming to a stop on change of traffic light from green to amber or red.
06
wait_for_lead_to_cross - Indicates vehicle waiting for a lead vehicle to finish executing its turn.
07
follow_lead_into_intersection - Indicates a vehicle following the its vehicle into the intersection while the lead vehicle executes a turn.
08
wait-on-red - Indicates vehicles waiting on red light.
09
cut-in - Indicates vehicle cutting in into another lane
10
yield-to-merging - Indicated vehicle waiting for another vehicle which is cutting-in in front.
11
wait-for-pedestrian - Indicates waiting for a pedestrian to cross a crosswalk.

SEGMENT_SEQ_MAP

This table is used for mapping the traffic segment sequence of a vehicle trajectory to the direction of travel, entry, and exit gates that lie on the trajectory path
Column Name Description
SEGMENT_ID
Segment sequence ID
ENTRY_GATE
Entry gate ID that this sequence of traffic segment sequence crosses
EXIT_GATE
Exit gate ID that this sequence of traffic segment sequence crosses
SEGMENT_SEQ
The traffic segment sequence listed in sequence. Refer to the segment diagram and TRAFFIC_REGIONS_DEF for details on the traffic segments.
DIRECTION
Direction of the sequence. See additional column info below.
Discrete Value Description
S_E
South East
S_N
South North
S_W
South West
E_N
East North
E_W
East West
E_S
East South
N_W
North West
N_S
North South
N_E
North East
W_N
West North
W_E
West East
W_S
West South

TRACKS

This table contains metadata about each agents' track
Column Name Description
FILE_ID
TRACK_ID
Track ID of the agent in the file.
TYPE
Type of the agent.
Discrete Value Description
Car
Car
Pedestrian
Pedestrian
Heavy Vehicle
Heavy Vehicle
Medium Vehicle
Medium Vehicle
Bicycle
Bicycle
Bus
Bus
TRACK_WIDTH
TRACK_LENGTH
ENTRY_GATE
The entry gate ID of intersection from which the agent enters.
ENTRY_TIME
The time in seconds since the start of the file when the agent crosses the entry gate
EXIT_GATE
The exit gate ID of intersection from which the agent exits the intersection.
EXIT_TIME
The time in seconds since the start of the file when the agent crosses the exit gate
TRAVELED_DIST
Distance in meters travelled by the agent between the two gates
AVG_SPEED
Average speed in kilometers per hour of the agent

TRAFFIC_REGIONS_DEF

This table stores spatial traffic entities of interests. Includes traffic segments, centerlines, traffic segment gate locations, etc.
Column Name Description
NAME
Name of the spatial entity. See additional column info below.
Discrete Value Description
prep-turn_s, exec-turn_s, l_s_n, l_n_s_l, ln_e_3, ln_e_2, ln_e_1, ln_n_1, ln_n_2, ln_n_3, ln_s_-2, ln_s_-1, l_n_s_r, int-entry_n, ln_w_-1, ln_w_-2, ln_s_1, ln_e_-1, ln_e_-2, l_w_e_l, l_w_e_r, ln_w_2, ln_w_3, ln_w_1, l_e_-1, l_e_-2, ln_w_4, l_e_w_l, l_e_w_r, ln_n_-1, ln_n_-2, l_s_n_l, l_s_n_r, prep-turn_w, exec-turn_w, ln_s_2, ln_s_3, ln_s_4, rt_exec-turn_s, rt_exec-turn_w, rt_prep-turn_s, rt_prep-turn_w, prep-turn_e, exec-turn_e, exec-turn_n, prep-turn_n
These are spatial traffic regions. Please refer to the diagram below for a visual depiction of the location of each region in the intersection.
S_W, W_N, E_S, N_E, S_E, W_S, S_N, N_S, E_W, W_E
Direction code
67, 21, 20, 36, 37, 69, 68, 66
Gate IDs for the SEGMENT_GATE gates
REGION_ID
SHAPE
Geometric shape of this spatial entity
REGION_PROPERTY
Additional information about the type of this spatial region. See additional column info below.
Discrete Value Description
exit_boundary
Exit boundary of the traffic segment.
left_boundary
Left boundary of the traffic segment
center_line
Entry boundary of the traffic segment
entry_boundary
Entry boundary of the traffic segment
gate_line
The location of the SEGMENT_GATE gate of the corresponding gate id
lane_boundary
The spatial boundary that covers all the lanes corresponding to the travel direction
X_POSITIONS
UTM lateral points (zone 17T) of the this spatial entity. For centerlines, the points are listed in sequence along the direction of travel. For entry and exit boundaries, the points are listed from left to right when encountered along the direction of travel.
Y_POSITIONS
UTM longitudinal points (zone 17T) of the this spatial entity. For centerlines, the points are listed in sequence along the direction of travel. For entry and exit boundaries, the points are listed from left to right when encountered along the direction of travel.

Gates

Gates

Segments

Segments

TRAFFIC_LIGHTS

This table stores the traffic light information of the current file
Column Name Description
FILE_ID
The file_id of the recording
L_N_E
Traffic light state of North to East direction. G (Green), Y (Yellow), or R (Red)
L_S_W
Traffic light state of South to West direction. G (Green), Y (Yellow), or R (Red)
L_N_S
Traffic light state of North to South direction. G (Green), Y (Yellow), or R (Red)
L_S_E
Traffic light state of South to East direction. G (Green), Y (Yellow), or R (Red)
L_S_N
Traffic light state of South to North direction. G (Green), Y (Yellow), or R (Red)
L_W_N
Traffic light state of West to North direction. G (Green), Y (Yellow), or R (Red)
L_E_S
Traffic light state of East to South direction. G (Green), Y (Yellow), or R (Red)
L_W_E
Traffic light state of West to East direction. G (Green), Y (Yellow), or R (Red)
L_E_W
Traffic light state of East to West direction. G (Green), Y (Yellow), or R (Red)
L_W_S
Traffic light state of West to South direction. G (Green), Y (Yellow), or R (Red)
TIME
Time in seconds into the current file recording.

TRAJECTORIES_0<file_id>.db

This table contains the trajectory of each agent in the corresponding file.
Column Name Description
TRACK_ID
Track ID of the agent in the file.
X
UTM lateral co-ordinate (zone 17T) of the position of the agent
Y
UTM longitudinal co-ordinate (zone 17T) of the position of the agent
SPEED
Speed of the agent in kilometers per hour at a specific moment
TAN_ACC
Tangential acceleration of the agent in meters per second squared at a specific moment.
LAT_ACC
Lateral acceleration of the agent in meters per second squared at a specific moment.
TIME
Seconds from the beginning of the video, where the position, speed, and acceleration of the vehicle are measured.
ANGLE
Vehicle angle for each exported position of a Trajectory.
TRAFFIC_REGIONS

TRAJECTORIES_0<file_id>_EXT.db

This table contains additional trajectory information of each agent in the corresponding file.
Column Name Description
TRACK_ID
Track ID of the agent in the file.
TIME
Seconds from the beginning of the video, where the position, speed, and acceleration of the vehicle are measured.
ASSIGNED_SEGMENT
The assigned traffic segment of the agent at a specific moment.
L1_ACTION
L2_ACTION

TRAJECTORY_MOVEMENTS

This table contains metadata about each agents' track
Column Name Description
FILE_ID
TRACK_ID
Track ID of the agent in the file.
TYPE
Type of the agent.
Discrete Value Description
Car
Car
Pedestrian
Pedestrian
Heavy Vehicle
Heavy Vehicle
Medium Vehicle
Medium Vehicle
Bicycle
Bicycle
Bus
Bus
ENTRY_GATE
The entry gate ID of intersection from which the agent enters.
EXIT_GATE
The exit gate ID of intersection from which the agent exits the intersection.
GATES_PASSED
List of gates crossed by the agent. (Pedestrians usually cross multiple gates since they can cross over multiple crosswalks)
TIME_BTW_GATES
Time passed in seconds by the agent between the entry and exit gate.
DISTANCE_BTW_GATES
Length of the trajectory of the agent between the entry and exit gate
TIME_TOTAL
Total time in seconds length of the trajectory of the agent
DISTANCE_TOTAL
Total length in meters of the agent's trajectory
MIN_SPEED_BTW_GATES
Minimum speed in kilometers per hour of the agent between entry and exit gates
AVG_SPEED_BTW_GATES
Average speed in kilometers per hour of the agent between entry and exit gates
MAX_SPEED_BTW_GATES
Maximum speed in kilometers per hour of the agent between entry and exit gates
MIN_SPEED_TOTAL
Minimum speed in kilometers per hour of the agent
AVG_SPEED_TOTAL
Average speed in kilometers per hour of the agent
MAX_SPEED_TOTAL
Maximum speed in kilometers per hour of the agent
MIN_TOTAL_ACC_BTW_GATES
Minimum total acceleration in meters per second squared of the agent between entry and exit gates
AVG_TOTAL_ACC_BTW_GATES
Average total acceleration in meters per second squared of the agent between entry and exit gates
MAX_TOTAL_ACC_BTW_GATES
Maximum total acceleration in meters per second squared of the agent between entry and exit gates
MIN_TOTAL_ACC_TOTAL
Minimum total acceleration in meters per second squared of the agent
AVG_TOTAL_ACC_TOTAL
Average total acceleration in meters per second squared of the agent
MAX_TOTAL_ACC_TOTAL
Maximum total acceleration in meters per second squared of the agent
MIN_LATERAL_ACC_BTW_GATES
Minimum lateral acceleration in meters per second squared of the agent between entry and exit gates
AVG_LATERAL_ACC_BTW_GATES
Average lateral acceleration in meters per second squared of the agent between entry and exit gates
MAX_LATERAL_ACC_BTW_GATES
Maximum lateral acceleration in meters per second squared of the agent between entry and exit gates
MIN_LATERAL_ACC_TOTAL
Minimum lateral acceleration in meters per second squared of the agent
AVG_LATERAL_ACC_TOTAL
Average lateral acceleration in meters per second squared of the agent
MAX_LATERAL_ACC_TOTAL
Maximum lateral acceleration in meters per second squared of the agent
MIN_TANGENTIAL_ACC_BTW_GATES
Minimum tangential acceleration in meters per second squared of the agent between entry and exit gates
AVG_TANGENTIAL_ACC_BTW_GATES
Average tangential acceleration in meters per second squared of the agent between entry and exit gates
MAX_TANGENTIAL_ACC_BTW_GATES
Maximum tangential acceleration in meters per second squared of the agent between entry and exit gates
MIN_TANGENTIAL_ACC_TOTAL
Minimum tangential acceleration in meters per second squared of the agent
AVG_TANGENTIAL_ACC_TOTAL
Average tangential acceleration in meters per second squared of the agent
MAX_TANGENTIAL_ACC_TOTAL
Maximum tangential acceleration in meters per second squared of the agent
TOTAL_STATIONARY_TIME
Total time in seconds the agent spent in stationary state (zero speed)
LONGEST_STATIONARY_TIM
Longest time in seconds the agent spent in stationary state (zero speed)
TRAFFIC_SEGMENT_SEQ
Sequence of traffic region segment the agent passes through. Listed in sequence. Refer to TRAFFIC_REGIONS_DEF table