Abstract
The Operational Design Domain (ODD) of urbanoriented Level 4 (L4) autonomous driving, especially for autonomous robotaxis, confronts formidable challenges in complex urban mixed traffic environments. These challenges stem mainly from the high density of Vulnerable Road Users (VRUs) and their highly uncertain and unpredictable interaction behaviors. However, existing open-source datasets predominantly focus on structured scenarios such as highways or regulated intersections, leaving a critical gap in data representing chaotic, unstructured urban environments. To address this, this paper proposes an efficient, high-precision method for constructing drone-based datasets and establishes the Vehicle-Vulnerable Road User Interaction Dataset (VRUD), as illustrated in Figure 1. Distinct from prior works, VRUD is collected from typical "Urban Villages" in Shenzhen, characterized by loose traffic supervision and extreme occlusion. The dataset comprises 4 hours of 4K/30Hz recording, containing 11,479 VRU trajectories and 1,939 vehicle trajectories. A key characteristic of VRUD is its composition: VRUs account for about 87% of all traffic participants, significantly exceeding the proportions in existing benchmarks. Furthermore, unlike datasets that only provide raw trajectories, we extracted 4,002 multi-agent interaction scenarios based on a novel Vector Time to Collision (VTTC) threshold, supported by standard OpenDRIVE HD maps. This study provides valuable, rare edge-case resources for enhancing the safety performance of ADS in complex, unstructured urban environments. To facilitate further research, we have made the VRUD dataset open-source at: this https URL.
Abstract (translated)
面向城市环境的L4级自动驾驶运营设计域（ODD），尤其是自动驾驶出租车，在复杂的城市混合交通环境中面临严峻挑战。这些挑战主要源于弱势道路使用者（VRU）的高密度分布及其高度不确定、难以预测的交互行为。然而，现有开源数据集多聚焦于高速公路或规范路口等结构化场景，缺乏代表混乱、非结构化城市环境的关键数据。为此，本文提出一种高效高精度的无人机数据集构建方法，并建立了如图1所示的车辆-弱势道路使用者交互数据集（VRUD）。与既往研究不同，VRUD采集自深圳典型"城中村"区域，这些区域交通监管松散且遮挡现象极端。数据集包含4小时4K/30Hz录像，涵盖11,479条VRU轨迹与1,939条车辆轨迹。VRUD的核心特征在于其构成：VRU占所有交通参与者的约87%，显著高于现有基准数据集的比例。此外，不同于仅提供原始轨迹的数据集，我们基于新型矢量碰撞时间（VTTC）阈值，结合标准OpenDRIVE高清地图，提取了4,002个多智能体交互场景。本研究为提升自动驾驶系统在复杂非结构化城市环境中的安全性能提供了宝贵的边缘案例资源。为促进后续研究，VRUD数据集已开源公开：此https链接。
URL
https://arxiv.org/abs/2604.01134
