Initial upload of RADIUS_DataSet550

README.md

@@ -1,3 +1,39 @@
----
-license: mit
----
+# RADIUS_DataSet550
+
+RADIUS_DataSet550 is the first release of the safety-critical long-tail driving scenario dataset. It contains **550 instances** in total, including **500 safety-critical long-tail scenes** and **50 normal scenes**.
+
+## Dataset Contents
+Each instance **X** is released as an image plus JSON sidecars:
+
+- `dataX.png`: the rendered driving scene.
+- `dataX.json`: taxonomy and post-decision supervision, including:
+  - classification (Level-3)
+  - `lt_ele` (dominant element)
+  - `acc_factors`
+  - `post_dec` (reference level and/or plan text)
+- `dataX_aligned.json`: simulator-ready coarse state for Phase-1 Safety (map/relations/kinematics abstraction).
+- `dataX_gt.json`: pre-decision action tags for Phase-1 scoring (per-action collision/hazard/safe, and optional best action).
+
+## Design Principles
+The schema is intentionally minimal:
+
+- `dataX_aligned.json` is only as complex as needed for deterministic Safety rollout.
+- `dataX.json` carries the Phase-2/3 labels required for SAR diagnosis and cross-phase consistency metrics.
+
+## Directory Structure
+```
+RADIUS_DataSet550/
+├── json/                # JSON sidecars for each instance
+├── pic/                 # Rendered scene images
+├── aligned_dataset.py   # Utility script for alignment
+├── example.json
+├── example_plot.png
+└── README.md
+```
+
+## Notes
+- File naming follows the `dataX.*` convention across image and JSON sidecars.
+- For benchmark usage, refer to the `RADIUS_benchmark` module documentation.
+
+## License
+This project is released under the terms of the MIT License. The complete license text can be found in the LICENSE file located at the root of this repository.

aligned_dataset.py

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+import os
+import json
+
+
+def generate_pic_related_json(pic_dir, pre_dec_json_dir, gt_json_dir, json_output_dir, example_template_path):
+    """
+    Generate a JSON annotation file for each PNG image in the given image directory.
+
+    For every image file under `pic_dir`, this function:
+    1. Loads a JSON template from `example_template_path`.
+    2. Fills in image-related fields (image name, relative paths to image, prediction JSON, and GT JSON).
+    3. Assigns default values to auxiliary annotation fields.
+    4. Writes the resulting JSON file to `json_output_dir`.
+
+    All file paths stored in the generated JSON are relative to `json_output_dir`,
+    which makes the dataset portable across different directory layouts.
+
+    Parameters
+    ----------
+    pic_dir : str
+        Directory containing PNG image files.
+    pre_dec_json_dir : str
+        Directory containing pre-decision JSON files (aligned predictions).
+    gt_json_dir : str
+        Directory containing ground-truth JSON files.
+    json_output_dir : str
+        Output directory where generated JSON files will be saved.
+    example_template_path : str
+        Path to the example/template JSON file used as a base structure.
+    """
+
+    # Ensure the output directory exists
+    os.makedirs(json_output_dir, exist_ok=True)
+
+    # Load the example JSON template
+    with open(example_template_path, "r", encoding="utf-8") as f:
+        template = json.load(f)
+
+    # Iterate over all PNG images in the image directory
+    for pic_filename in os.listdir(pic_dir):
+        if not pic_filename.endswith(".png"):
+            continue  # Only process PNG files
+
+        # Extract the base name of the image file (e.g., "XXX.png" -> "XXX")
+        pic_basename = os.path.splitext(pic_filename)[0]
+
+        # Construct absolute paths
+        pic_full_path = os.path.join(pic_dir, pic_filename)
+        gt_json_path = os.path.join(gt_json_dir, f"{pic_basename}_gt.json")
+        pre_dec_full_path = os.path.join(pre_dec_json_dir, f"{pic_basename}_aligned.json")
+
+        # Convert absolute paths to paths relative to the JSON output directory
+        # Formula: os.path.relpath(target_path, base_path)
+        relative_pic_path = os.path.relpath(pic_full_path, json_output_dir)
+        relative_gt_json_path = os.path.relpath(gt_json_path, json_output_dir)
+        relative_pre_dec_path = os.path.relpath(pre_dec_full_path, json_output_dir)
+
+        # Create a new JSON object based on the template and populate required fields
+        new_json = template.copy()
+        new_json["pic_name"] = pic_basename          # Original image base name
+        new_json["pic_path"] = relative_pic_path     # Relative path to the image file
+        new_json["pre_dec_file"] = relative_pre_dec_path  # Relative path to pre-decision JSON
+        new_json["gt_json_file"] = relative_gt_json_path  # Relative path to GT JSON
+
+        # Fill in other fields with default values (can be customized later)
+        new_json["is_longtail"] = "True"
+        new_json["Sup_description"] = ""
+        new_json["lt_ele"] = ""
+        new_json["acc_factors"] = ""
+        new_json["COT"] = ""
+        new_json["post_dec"] = ""
+        new_json["is_transfer2p"] = "No"
+
+        # Save the generated JSON file
+        output_json_path = os.path.join(json_output_dir, f"{pic_basename}.json")
+        with open(output_json_path, "w", encoding="utf-8") as f:
+            json.dump(new_json, f, indent=2, ensure_ascii=False)
+
+    print(f"All image-related JSON files have been generated and saved to: {json_output_dir}")
+
+
+def uniform_rename_files(pic_dir, pre_dec_json_dir, gt_json_dir, json_dir):
+    """
+    Uniformly rename related files in multiple directories and update JSON contents accordingly.
+
+    This function processes corresponding groups of files:
+    - Image file:            XXX.png
+    - Pre-decision JSON:     XXX_aligned.json
+    - Ground-truth JSON:     XXX_gt.json
+    - Metadata JSON:         XXX.json
+
+    Each group is renamed sequentially to:
+    - data1.png, data2.png, ...
+    - data1_aligned.json, ...
+    - data1_gt.json, ...
+    - data1.json, ...
+
+    After renaming, the function updates the internal fields of the JSON files to:
+    - Reflect the new base name (dataX)
+    - Maintain relative paths with respect to `json_dir`
+
+    Parameters
+    ----------
+    pic_dir : str
+        Directory containing image files.
+    pre_dec_json_dir : str
+        Directory containing pre-decision JSON files.
+    gt_json_dir : str
+        Directory containing ground-truth JSON files.
+    json_dir : str
+        Directory containing metadata JSON files (used as the relative path base).
+    """
+
+    # Collect all valid file groups (image + pre-decision JSON + GT JSON + metadata JSON)
+    file_groups = []
+    for json_filename in os.listdir(json_dir):
+        if not json_filename.endswith(".json"):
+            continue
+
+        json_basename = os.path.splitext(json_filename)[0]
+
+        # Construct corresponding file paths
+        pic_path = os.path.join(pic_dir, f"{json_basename}.png")
+        pre_dec_path = os.path.join(pre_dec_json_dir, f"{json_basename}_aligned.json")
+        gt_json_path = os.path.join(gt_json_dir, f"{json_basename}_gt.json")
+        json_path = os.path.join(json_dir, json_filename)
+
+        # Only include groups where required files exist
+        if os.path.exists(pic_path) and os.path.exists(pre_dec_path):
+            file_groups.append((pic_path, pre_dec_path, gt_json_path, json_path, json_basename))
+        else:
+            print(f"Warning: Missing pic/pre_dec files for {json_basename}, skipping this entry.")
+
+    # Rename files sequentially and update JSON content
+    for idx, (pic_path, pre_dec_path, gt_json_path, json_path, old_basename) in enumerate(file_groups, start=1):
+        new_basename = f"data{idx}"
+
+        # 1. Rename image file (XXX.png -> dataX.png)
+        new_pic_path = os.path.join(pic_dir, f"{new_basename}.png")
+        os.rename(pic_path, new_pic_path)
+
+        # 2. Rename pre-decision JSON file (XXX_aligned.json -> dataX_aligned.json)
+        new_pre_dec_path = os.path.join(pre_dec_json_dir, f"{new_basename}_aligned.json")
+        os.rename(pre_dec_path, new_pre_dec_path)
+
+        # 3. Rename ground-truth JSON file (XXX_gt.json -> dataX_gt.json)
+        new_gt_json_path = os.path.join(gt_json_dir, f"{new_basename}_gt.json")
+        os.rename(gt_json_path, new_gt_json_path)
+
+        # 4. Rename metadata JSON file (XXX.json -> dataX.json)
+        new_json_path = os.path.join(json_dir, f"{new_basename}.json")
+        os.rename(json_path, new_json_path)
+
+        # Compute new relative paths (relative to json_dir)
+        relative_new_pic_path = os.path.relpath(new_pic_path, json_dir)
+        relative_new_pre_dec_path = os.path.relpath(new_pre_dec_path, json_dir)
+
+        # Update fields inside the metadata JSON file
+        with open(new_json_path, "r+", encoding="utf-8") as f:
+            json_data = json.load(f)
+            json_data["pic_name"] = new_basename
+            json_data["pic_path"] = relative_new_pic_path
+            json_data["pre_dec_file"] = relative_new_pre_dec_path
+            json_data["gt_json_file"] = new_gt_json_path
+            f.seek(0)
+            json.dump(json_data, f, indent=2, ensure_ascii=False)
+            f.truncate()
+
+        # Update the corresponding ground-truth JSON file
+        new_gt_json_path_local = os.path.join(gt_json_dir, f"{new_basename}_gt.json")
+        with open(new_gt_json_path_local, "r+", encoding="utf-8") as f:
+            json_data = json.load(f)
+            json_data["source_scene"] = relative_new_pre_dec_path
+            f.seek(0)
+            json.dump(json_data, f, indent=2, ensure_ascii=False)
+            f.truncate()
+
+    print(f"Completed uniform renaming and JSON updates for {len(file_groups)} file groups.")
+
+
+if __name__ == "__main__":
+
+    pic_dir = "pic"
+    pre_dec_json_dir = "json/pre_dec_json"
+    gt_json_dir = "json/gt_json"
+    json_dir = "json"
+    example_template_path = "example.json"
+
+    # Step 1: Generate JSON files corresponding to each image
+    # generate_pic_related_json(pic_dir, pre_dec_json_dir, gt_json_dir, json_dir, example_template_path)
+
+    # Step 2: Uniformly rename files and update JSON contents
+    uniform_rename_files(pic_dir, pre_dec_json_dir, gt_json_dir, json_dir)

example.json

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+{
+  "level1": "1",
+  "level2": "1.1",
+  "level3": "1.1.1",
+  "pic_name": "....",
+  "pic_path": "..../...png",
+  "pre_dec_file": ".../...json",
+  "gt_json_file": "",
+  "is_longtail": "True/False",
+  "Sup_description": "........",
+  "lt_ele": "Dangerous goods vehicle/pedestrian/.....",
+  "acc_factors": "cars passing ahead/Can be bypassed/.....",
+  "COT":".......",
+  "post_dec": "Reverse evacuation/Stay still/Detour beyond/......",
+  "is_transfer2p": "Yes/No"
+}

json/data1.json

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+{
+  "level1": "3",
+  "level2": "3.2",
+  "level3": "3.2.1",
+  "pic_name": "data1",
+  "is_longtail": "True",
+  "lt_ele": "Information conflict",
+  "acc_factors": [
+    "Vehicles ahead",
+    "Does not affect own vehicle's passage",
+    "Lane-borrowing possible"
+  ],
+  "Sup_description": "The navigation shows that the road ahead is closed and social vehicles are not allowed to enter.The navigation shows that the road ahead is closed and social vehicles are not allowed to enter.",
+  "post_dec": "Park safely and request instructions",
+  "pic_path": "..\\pic\\data1.png",
+  "pre_dec_file": "pre_dec_json\\data1_aligned.json",
+  "gt_json_file": "json/gt_json\\data1_gt.json"
+}

json/data10.json

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+{
+  "level1": "2",
+  "level2": "2.3",
+  "level3": "2.3.1",
+  "pic_name": "data10",
+  "pre_dec_file": "pre_dec_json\\data10_aligned.json",
+  "gt_json_file": "json/gt_json\\data10_gt.json",
+  "is_longtail": "True",
+  "Sup_description": "",
+  "lt_ele": "Command signals/temporary signs",
+  "acc_factors": [
+    "Vehicles ahead",
+    "Affects own vehicle's passage",
+    "Lane-borrowing possible"
+  ],
+  "post_dec": "Park safely and request instructions",
+  "pic_path": "..\\pic\\data10.png"
+}

json/data100.json

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+{
+  "level1": "3",
+  "level2": "3.3",
+  "level3": "3.3.3",
+  "pic_name": "data100",
+  "pre_dec_file": "pre_dec_json\\data100_aligned.json",
+  "gt_json_file": "json/gt_json\\data100_gt.json",
+  "is_longtail": "True",
+  "Sup_description": "",
+  "lt_ele": "Abnormal behavior of other vehicles-Vehicle body abnormality",
+  "acc_factors": [
+    "No vehicles ahead",
+    "Affects own vehicle's passage",
+    "Lane-borrowing possible"
+  ],
+  "post_dec": "Slow down and take a detour",
+  "pic_path": "..\\pic\\data100.png"
+}

json/data101.json

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+{
+  "level1": "",
+  "level2": "",
+  "level3": "",
+  "pic_name": "data101",
+  "is_longtail": "False",
+  "lt_ele": null,
+  "acc_factors": [],
+  "Sup_description": "",
+  "post_dec": "",
+  "pic_path": "..\\pic\\data101.png",
+  "pre_dec_file": "pre_dec_json\\data101_aligned.json",
+  "gt_json_file": "json/gt_json\\data101_gt.json"
+}

json/data102.json

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+{
+  "level1": "1",
+  "level2": "1.1",
+  "level3": "1.1.3",
+  "pic_name": "data102",
+  "pre_dec_file": "pre_dec_json\\data102_aligned.json",
+  "gt_json_file": "json/gt_json\\data102_gt.json",
+  "is_longtail": "True",
+  "Sup_description": "",
+  "lt_ele": "Sand and dust",
+  "acc_factors": [
+    "No vehicles ahead",
+    "Does not affect own vehicle's passage",
+    "Lane-borrowing possible"
+  ],
+  "post_dec": "Low-speed straight passage",
+  "pic_path": "..\\pic\\data102.png"
+}

json/data103.json

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+{
+  "level1": "1",
+  "level2": "1.1",
+  "level3": "1.1.3",
+  "pic_name": "data103",
+  "pre_dec_file": "pre_dec_json\\data103_aligned.json",
+  "gt_json_file": "json/gt_json\\data103_gt.json",
+  "is_longtail": "True",
+  "Sup_description": "",
+  "lt_ele": "Sand and dust",
+  "acc_factors": [
+    "Vehicles ahead",
+    "Does not affect own vehicle's passage",
+    "Lane-borrowing possible"
+  ],
+  "post_dec": "Low-speed straight passage",
+  "pic_path": "..\\pic\\data103.png"
+}

json/data104.json

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+{
+  "level1": "1",
+  "level2": "1.3",
+  "level3": "1.3.1",
+  "pic_name": "data104",
+  "pre_dec_file": "pre_dec_json\\data104_aligned.json",
+  "gt_json_file": "json/gt_json\\data104_gt.json",
+  "is_longtail": "True",
+  "Sup_description": "",
+  "lt_ele": "Hazardous materials transport vehicle accident",
+  "acc_factors": [
+    "No vehicles ahead",
+    "Does not affect own vehicle's passage",
+    "No lane-borrowing possibility"
+  ],
+  "post_dec": "Emergency evacuation based on actual conditions",
+  "pic_path": "..\\pic\\data104.png"
+}

json/data105.json

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+{
+  "level1": "2",
+  "level2": "2.5",
+  "level3": "2.5.1",
+  "pic_name": "data105",
+  "pre_dec_file": "pre_dec_json\\data105_aligned.json",
+  "gt_json_file": "json/gt_json\\data105_gt.json",
+  "is_longtail": "True",
+  "Sup_description": "",
+  "lt_ele": "Road surface damage-Severe",
+  "acc_factors": [
+    "Vehicles ahead",
+    "Affects own vehicle's passage",
+    "Lane-borrowing possible"
+  ],
+  "post_dec": "Slow down and take a detour",
+  "pic_path": "..\\pic\\data105.png"
+}

json/data106.json

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+{
+  "level1": "2",
+  "level2": "2.5",
+  "level3": "2.5.2",
+  "pic_name": "data106",
+  "pre_dec_file": "pre_dec_json\\data106_aligned.json",
+  "gt_json_file": "json/gt_json\\data106_gt.json",
+  "is_longtail": "True",
+  "Sup_description": "",
+  "lt_ele": "Road surface damage-Moderate",
+  "acc_factors": [
+    "Vehicles ahead",
+    "Affects own vehicle's passage",
+    "Lane-borrowing possible"
+  ],
+  "post_dec": "Slow down and take a detour",
+  "pic_path": "..\\pic\\data106.png"
+}

json/data107.json

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+{
+  "level1": "1",
+  "level2": "1.4",
+  "level3": "1.4.1",
+  "pic_name": "data107",
+  "is_longtail": "True",
+  "lt_ele": "Event control",
+  "acc_factors": [
+    "No vehicles ahead",
+    "Affects own vehicle's passage",
+    "No lane-borrowing possibility"
+  ],
+  "post_dec": "Park safely and replan the route",
+  "pic_path": "..\\pic\\data107.png",
+  "pre_dec_file": "pre_dec_json\\data107_aligned.json",
+  "gt_json_file": "json/gt_json\\data107_gt.json"
+}

json/data108.json

@@ -0,0 +1,18 @@
+{
+  "level1": "2",
+  "level2": "2.2",
+  "level3": "2.2.4",
+  "pic_name": "data108",
+  "pre_dec_file": "pre_dec_json\\data108_aligned.json",
+  "gt_json_file": "json/gt_json\\data108_gt.json",
+  "is_longtail": "True",
+  "Sup_description": "",
+  "lt_ele": "non-motorized vehicle",
+  "acc_factors": [
+    "Vehicles ahead",
+    "Affects own vehicle's passage",
+    "Lane-borrowing possible"
+  ],
+  "post_dec": "Wait for avoidance and proceed straight ahead",
+  "pic_path": "..\\pic\\data108.png"
+}

json/data109.json

@@ -0,0 +1,18 @@
+{
+  "level1": "2",
+  "level2": "2.2",
+  "level3": "2.2.1",
+  "pic_name": "data109",
+  "pre_dec_file": "pre_dec_json\\data109_aligned.json",
+  "gt_json_file": "json/gt_json\\data109_gt.json",
+  "is_longtail": "True",
+  "Sup_description": "",
+  "lt_ele": "Animals",
+  "acc_factors": [
+    "Vehicles ahead",
+    "Affects own vehicle's passage",
+    "Lane-borrowing possible"
+  ],
+  "post_dec": "Wait for avoidance and proceed straight ahead",
+  "pic_path": "..\\pic\\data109.png"
+}

json/data11.json

@@ -0,0 +1,18 @@
+{
+  "level1": "3",
+  "level2": "3.2",
+  "level3": "3.2.1",
+  "pic_name": "data11",
+  "pre_dec_file": "pre_dec_json\\data11_aligned.json",
+  "gt_json_file": "json/gt_json\\data11_gt.json",
+  "is_longtail": "True",
+  "Sup_description": "Navigation information shows that the current road section is closed and impassable",
+  "lt_ele": "Information conflict",
+  "acc_factors": [
+    "No vehicles ahead",
+    "Does not affect own vehicle's passage",
+    "Lane-borrowing possible"
+  ],
+  "post_dec": "Park safely and request instructions",
+  "pic_path": "..\\pic\\data11.png"
+}

json/data110.json

@@ -0,0 +1,18 @@
+{
+  "level1": "1",
+  "level2": "1.4",
+  "level3": "1.4.2",
+  "pic_name": "data110",
+  "pre_dec_file": "pre_dec_json\\data110_aligned.json",
+  "gt_json_file": "json/gt_json\\data110_gt.json",
+  "is_longtail": "True",
+  "Sup_description": "",
+  "lt_ele": "Event control",
+  "acc_factors": [
+    "Vehicles ahead",
+    "Affects own vehicle's passage",
+    "No lane-borrowing possibility"
+  ],
+  "post_dec": "Park safely and replan the route",
+  "pic_path": "..\\pic\\data110.png"
+}

json/data111.json

@@ -0,0 +1,18 @@
+{
+  "level1": "1",
+  "level2": "1.3",
+  "level3": "1.3.1",
+  "pic_name": "data111",
+  "pre_dec_file": "pre_dec_json\\data111_aligned.json",
+  "gt_json_file": "json/gt_json\\data111_gt.json",
+  "is_longtail": "True",
+  "Sup_description": "",
+  "lt_ele": "Hazardous materials transport vehicle accident",
+  "acc_factors": [
+    "No vehicles ahead",
+    "Affects own vehicle's passage",
+    "No lane-borrowing possibility"
+  ],
+  "post_dec": "Emergency evacuation based on actual conditions",
+  "pic_path": "..\\pic\\data111.png"
+}

json/data112.json

@@ -0,0 +1,18 @@
+{
+  "level1": "3",
+  "level2": "3.2",
+  "level3": "3.2.1",
+  "pic_name": "data112",
+  "is_longtail": "True",
+  "lt_ele": "Information conflict",
+  "acc_factors": [
+    "Vehicles ahead",
+    "Does not affect own vehicle's passage",
+    "Lane-borrowing possible"
+  ],
+  "Sup_description": "The navigation shows that the road ahead is closed and social vehicles are not allowed to enter.The navigation shows that the road ahead is closed and social vehicles are not allowed to enter.",
+  "post_dec": "Park safely and request instructions",
+  "pic_path": "..\\pic\\data112.png",
+  "pre_dec_file": "pre_dec_json\\data112_aligned.json",
+  "gt_json_file": "json/gt_json\\data112_gt.json"
+}

json/data113.json

@@ -0,0 +1,14 @@
+{
+  "level1": "",
+  "level2": "",
+  "level3": "",
+  "pic_name": "data113",
+  "is_longtail": "False",
+  "lt_ele": null,
+  "acc_factors": [],
+  "Sup_description": "",
+  "post_dec": "",
+  "pic_path": "..\\pic\\data113.png",
+  "pre_dec_file": "pre_dec_json\\data113_aligned.json",
+  "gt_json_file": "json/gt_json\\data113_gt.json"
+}

json/data114.json

@@ -0,0 +1,18 @@
+{
+  "level1": "1",
+  "level2": "1.4",
+  "level3": "1.4.2",
+  "pic_name": "data114",
+  "pre_dec_file": "pre_dec_json\\data114_aligned.json",
+  "gt_json_file": "json/gt_json\\data114_gt.json",
+  "is_longtail": "True",
+  "Sup_description": "",
+  "lt_ele": "Event control",
+  "acc_factors": [
+    "Vehicles ahead",
+    "Affects own vehicle's passage",
+    "No lane-borrowing possibility"
+  ],
+  "post_dec": "Park safely and replan the route",
+  "pic_path": "..\\pic\\data114.png"
+}

json/data115.json

@@ -0,0 +1,18 @@
+{
+  "level1": "1",
+  "level2": "1.3",
+  "level3": "1.3.1",
+  "pic_name": "data115",
+  "pre_dec_file": "pre_dec_json\\data115_aligned.json",
+  "gt_json_file": "json/gt_json\\data115_gt.json",
+  "is_longtail": "True",
+  "Sup_description": "",
+  "lt_ele": "Hazardous materials transport vehicle accident",
+  "acc_factors": [
+    "No vehicles ahead",
+    "Affects own vehicle's passage",
+    "No lane-borrowing possibility"
+  ],
+  "post_dec": "Emergency evacuation based on actual conditions",
+  "pic_path": "..\\pic\\data115.png"
+}

json/data116.json

@@ -0,0 +1,18 @@
+{
+  "level1": "1",
+  "level2": "1.3",
+  "level3": "1.3.2",
+  "pic_name": "data116",
+  "pre_dec_file": "pre_dec_json\\data116_aligned.json",
+  "gt_json_file": "json/gt_json\\data116_gt.json",
+  "is_longtail": "True",
+  "Sup_description": "",
+  "lt_ele": "Large-scale accident",
+  "acc_factors": [
+    "No vehicles ahead",
+    "Affects own vehicle's passage",
+    "No lane-borrowing possibility"
+  ],
+  "post_dec": "Park safely and replan the route",
+  "pic_path": "..\\pic\\data116.png"
+}

json/data117.json

@@ -0,0 +1,18 @@
+{
+  "level1": "3",
+  "level2": "3.5",
+  "level3": "3.5.2",
+  "pic_name": "data117",
+  "pre_dec_file": "pre_dec_json\\data117_aligned.json",
+  "gt_json_file": "json/gt_json\\data117_gt.json",
+  "is_longtail": "True",
+  "Sup_description": "",
+  "lt_ele": "Pedestrians",
+  "acc_factors": [
+    "Vehicles ahead",
+    "Affects own vehicle's passage",
+    "No lane-borrowing possibility temporarily"
+  ],
+  "post_dec": "Wait for avoidance and proceed straight ahead",
+  "pic_path": "..\\pic\\data117.png"
+}

json/data118.json

@@ -0,0 +1,18 @@
+{
+  "level1": "3",
+  "level2": "3.3",
+  "level3": "3.3.2",
+  "pic_name": "data118",
+  "pre_dec_file": "pre_dec_json\\data118_aligned.json",
+  "gt_json_file": "json/gt_json\\data118_gt.json",
+  "is_longtail": "True",
+  "Sup_description": "",
+  "lt_ele": "Abnormal behavior of other vehicles-Sudden lane change",
+  "acc_factors": [
+    "Vehicles ahead",
+    "Affects own vehicle's passage",
+    "Lane-borrowing possible"
+  ],
+  "post_dec": "Wait for avoidance and proceed straight ahead",
+  "pic_path": "..\\pic\\data118.png"
+}

json/data119.json

@@ -0,0 +1,18 @@
+{
+  "level1": "1",
+  "level2": "1.1",
+  "level3": "1.1.1",
+  "pic_name": "data119",
+  "pre_dec_file": "pre_dec_json\\data119_aligned.json",
+  "gt_json_file": "json/gt_json\\data119_gt.json",
+  "is_longtail": "True",
+  "Sup_description": "",
+  "lt_ele": "Snowy terrain",
+  "acc_factors": [
+    "No vehicles ahead",
+    "Does not affect own vehicle's passage",
+    "Lane-borrowing possible"
+  ],
+  "post_dec": "Low-speed straight passage",
+  "pic_path": "..\\pic\\data119.png"
+}

json/data12.json

@@ -0,0 +1,18 @@
+{
+  "level1": "2",
+  "level2": "2.4",
+  "level3": "2.4.2",
+  "pic_name": "data12",
+  "pre_dec_file": "pre_dec_json\\data12_aligned.json",
+  "gt_json_file": "json/gt_json\\data12_gt.json",
+  "is_longtail": "True",
+  "Sup_description": "",
+  "lt_ele": "Special vehicles",
+  "acc_factors": [
+    "Vehicles ahead",
+    "Affects own vehicle's passage",
+    "Lane-borrowing possible"
+  ],
+  "post_dec": "Wait for avoidance and depending on the situation, proceed straight ahead or take a detour",
+  "pic_path": "..\\pic\\data12.png"
+}

json/data120.json

@@ -0,0 +1,18 @@
+{
+  "level1": "3",
+  "level2": "3.1",
+  "level3": "3.1.2",
+  "pic_name": "data120",
+  "pre_dec_file": "pre_dec_json\\data120_aligned.json",
+  "gt_json_file": "json/gt_json\\data120_gt.json",
+  "is_longtail": "True",
+  "Sup_description": "",
+  "lt_ele": "Abnormal traffic flow-Lane change",
+  "acc_factors": [
+    "No vehicles ahead",
+    "Affects own vehicle's passage",
+    "No lane-borrowing possibility"
+  ],
+  "post_dec": "Wait for avoidance and proceed straight ahead",
+  "pic_path": "..\\pic\\data120.png"
+}

json/data121.json

@@ -0,0 +1,18 @@
+{
+  "level1": "3",
+  "level2": "3.3",
+  "level3": "3.3.3",
+  "pic_name": "data121",
+  "pre_dec_file": "pre_dec_json\\data121_aligned.json",
+  "gt_json_file": "json/gt_json\\data121_gt.json",
+  "is_longtail": "True",
+  "Sup_description": "",
+  "lt_ele": "Abnormal behavior of other vehicles-Vehicle body abnormality",
+  "acc_factors": [
+    "Vehicles ahead",
+    "Affects own vehicle's passage",
+    "Lane-borrowing possible"
+  ],
+  "post_dec": "Wait for avoidance and depending on the situation, proceed straight ahead or take a detour",
+  "pic_path": "..\\pic\\data121.png"
+}

json/data122.json

@@ -0,0 +1,18 @@
+{
+  "level1": "2",
+  "level2": "2.2",
+  "level3": "2.2.1",
+  "pic_name": "data122",
+  "pre_dec_file": "pre_dec_json\\data122_aligned.json",
+  "gt_json_file": "json/gt_json\\data122_gt.json",
+  "is_longtail": "True",
+  "Sup_description": "",
+  "lt_ele": "Animals",
+  "acc_factors": [
+    "Vehicles ahead",
+    "Affects own vehicle's passage",
+    "Lane-borrowing possible"
+  ],
+  "post_dec": "Wait for avoidance and proceed straight ahead",
+  "pic_path": "..\\pic\\data122.png"
+}

json/data123.json

@@ -0,0 +1,18 @@
+{
+  "level1": "3",
+  "level2": "3.5",
+  "level3": "3.5.1",
+  "pic_name": "data123",
+  "pre_dec_file": "pre_dec_json\\data123_aligned.json",
+  "gt_json_file": "json/gt_json\\data123_gt.json",
+  "is_longtail": "True",
+  "Sup_description": "",
+  "lt_ele": "Ground obstacle",
+  "acc_factors": [
+    "Vehicles ahead",
+    "Affects own vehicle's passage",
+    "Lane-borrowing possible"
+  ],
+  "post_dec": "Slow down and take a detour",
+  "pic_path": "..\\pic\\data123.png"
+}

json/data124.json

@@ -0,0 +1,14 @@
+{
+  "level1": "",
+  "level2": "",
+  "level3": "",
+  "pic_name": "data124",
+  "is_longtail": "False",
+  "lt_ele": null,
+  "acc_factors": [],
+  "Sup_description": "",
+  "post_dec": "",
+  "pic_path": "..\\pic\\data124.png",
+  "pre_dec_file": "pre_dec_json\\data124_aligned.json",
+  "gt_json_file": "json/gt_json\\data124_gt.json"
+}

json/data125.json

@@ -0,0 +1,18 @@
+{
+  "level1": "3",
+  "level2": "3.3",
+  "level3": "3.3.3",
+  "pic_name": "data125",
+  "pre_dec_file": "pre_dec_json\\data125_aligned.json",
+  "gt_json_file": "json/gt_json\\data125_gt.json",
+  "is_longtail": "True",
+  "Sup_description": "",
+  "lt_ele": "Abnormal behavior of other vehicles-Vehicle body abnormality",
+  "acc_factors": [
+    "Vehicles ahead",
+    "Affects own vehicle's passage",
+    "Lane-borrowing possible"
+  ],
+  "post_dec": "Wait for avoidance and depending on the situation, proceed straight ahead or take a detour",
+  "pic_path": "..\\pic\\data125.png"
+}

json/data126.json

@@ -0,0 +1,18 @@
+{
+  "level1": "2",
+  "level2": "2.5",
+  "level3": "2.5.1",
+  "pic_name": "data126",
+  "pre_dec_file": "pre_dec_json\\data126_aligned.json",
+  "gt_json_file": "json/gt_json\\data126_gt.json",
+  "is_longtail": "True",
+  "Sup_description": "",
+  "lt_ele": "Road surface damage-Severe",
+  "acc_factors": [
+    "Vehicles ahead",
+    "Affects own vehicle's passage",
+    "Lane-borrowing possible"
+  ],
+  "post_dec": "Slow down and take a detour",
+  "pic_path": "..\\pic\\data126.png"
+}

json/data127.json

@@ -0,0 +1,18 @@
+{
+  "level1": "3",
+  "level2": "3.3",
+  "level3": "3.3.3",
+  "pic_name": "data127",
+  "pre_dec_file": "pre_dec_json\\data127_aligned.json",
+  "gt_json_file": "json/gt_json\\data127_gt.json",
+  "is_longtail": "True",
+  "Sup_description": "",
+  "lt_ele": "Abnormal behavior of other vehicles-Vehicle body abnormality",
+  "acc_factors": [
+    "Vehicles ahead",
+    "Affects own vehicle's passage",
+    "Lane-borrowing possible"
+  ],
+  "post_dec": "Wait for avoidance and depending on the situation, proceed straight ahead or take a detour",
+  "pic_path": "..\\pic\\data127.png"
+}

json/data128.json

@@ -0,0 +1,18 @@
+{
+  "level1": "2",
+  "level2": "2.5",
+  "level3": "2.5.1",
+  "pic_name": "data128",
+  "pre_dec_file": "pre_dec_json\\data128_aligned.json",
+  "gt_json_file": "json/gt_json\\data128_gt.json",
+  "is_longtail": "True",
+  "Sup_description": "",
+  "lt_ele": "Road surface damage-Severe",
+  "acc_factors": [
+    "Vehicles ahead",
+    "Affects own vehicle's passage",
+    "Lane-borrowing possible"
+  ],
+  "post_dec": "Slow down and take a detour",
+  "pic_path": "..\\pic\\data128.png"
+}

json/data129.json

@@ -0,0 +1,18 @@
+{
+  "level1": "2",
+  "level2": "2.5",
+  "level3": "2.5.1",
+  "pic_name": "data129",
+  "pre_dec_file": "pre_dec_json\\data129_aligned.json",
+  "gt_json_file": "json/gt_json\\data129_gt.json",
+  "is_longtail": "True",
+  "Sup_description": "",
+  "lt_ele": "Road surface damage-Severe",
+  "acc_factors": [
+    "Vehicles ahead",
+    "Affects own vehicle's passage",
+    "Lane-borrowing possible"
+  ],
+  "post_dec": "Slow down and take a detour",
+  "pic_path": "..\\pic\\data129.png"
+}

json/data13.json

@@ -0,0 +1,14 @@
+{
+  "level1": "",
+  "level2": "",
+  "level3": "",
+  "pic_name": "data13",
+  "is_longtail": "False",
+  "lt_ele": "",
+  "acc_factors": [],
+  "Sup_description": "",
+  "post_dec": "",
+  "pic_path": "..\\pic\\data13.png",
+  "pre_dec_file": "pre_dec_json\\data13_aligned.json",
+  "gt_json_file": "json/gt_json\\data13_gt.json"
+}

json/data130.json

@@ -0,0 +1,18 @@
+{
+  "level1": "2",
+  "level2": "2.1",
+  "level3": "2.1.1",
+  "pic_name": "data130",
+  "pre_dec_file": "pre_dec_json\\data130_aligned.json",
+  "gt_json_file": "json/gt_json\\data130_gt.json",
+  "is_longtail": "True",
+  "Sup_description": "",
+  "lt_ele": "Ground obstacle",
+  "acc_factors": [
+    "Vehicles ahead",
+    "Affects own vehicle's passage",
+    "Lane-borrowing possible"
+  ],
+  "post_dec": "Low-speed straight passage",
+  "pic_path": "..\\pic\\data130.png"
+}

json/data131.json

@@ -0,0 +1,17 @@
+{
+  "level1": "1",
+  "level2": "1.4",
+  "level3": "1.4.1",
+  "pic_name": "data131",
+  "is_longtail": "True",
+  "lt_ele": "Event control",
+  "acc_factors": [
+    "Vehicles ahead",
+    "Affects own vehicle's passage",
+    "No lane-borrowing possibility"
+  ],
+  "post_dec": "Park safely and replan the route",
+  "pic_path": "..\\pic\\data131.png",
+  "pre_dec_file": "pre_dec_json\\data131_aligned.json",
+  "gt_json_file": "json/gt_json\\data131_gt.json"
+}

json/data132.json

@@ -0,0 +1,18 @@
+{
+  "level1": "1",
+  "level2": "1.2",
+  "level3": "1.2.2",
+  "pic_name": "data132",
+  "pre_dec_file": "pre_dec_json\\data132_aligned.json",
+  "gt_json_file": "json/gt_json\\data132_gt.json",
+  "is_longtail": "True",
+  "Sup_description": "",
+  "lt_ele": "Large-scale equipment",
+  "acc_factors": [
+    "Vehicles ahead",
+    "Affects own vehicle's passage",
+    "No lane-borrowing possibility"
+  ],
+  "post_dec": "Park safely and replan the route",
+  "pic_path": "..\\pic\\data132.png"
+}

json/data133.json

@@ -0,0 +1,18 @@
+{
+  "level1": "3",
+  "level2": "3.5",
+  "level3": "3.5.1",
+  "pic_name": "data133",
+  "pre_dec_file": "pre_dec_json\\data133_aligned.json",
+  "gt_json_file": "json/gt_json\\data133_gt.json",
+  "is_longtail": "True",
+  "Sup_description": "",
+  "lt_ele": "Ground obstacle",
+  "acc_factors": [
+    "Vehicles ahead",
+    "Affects own vehicle's passage",
+    "Lane-borrowing possible"
+  ],
+  "post_dec": "Slow down and take a detour",
+  "pic_path": "..\\pic\\data133.png"
+}

json/data134.json

@@ -0,0 +1,14 @@
+{
+  "level1": "",
+  "level2": "",
+  "level3": "",
+  "pic_name": "data134",
+  "pre_dec_file": "pre_dec_json\\data134_aligned.json",
+  "gt_json_file": "json/gt_json\\data134_gt.json",
+  "is_longtail": "False",
+  "Sup_description": "",
+  "lt_ele": "",
+  "acc_factors": [],
+  "post_dec": "",
+  "pic_path": "..\\pic\\data134.png"
+}

json/data135.json

@@ -0,0 +1,14 @@
+{
+  "level1": "",
+  "level2": "",
+  "level3": "",
+  "pic_name": "data135",
+  "is_longtail": "False",
+  "lt_ele": null,
+  "acc_factors": [],
+  "Sup_description": "",
+  "post_dec": "",
+  "pic_path": "..\\pic\\data135.png",
+  "pre_dec_file": "pre_dec_json\\data135_aligned.json",
+  "gt_json_file": "json/gt_json\\data135_gt.json"
+}

json/data136.json

@@ -0,0 +1,18 @@
+{
+  "level1": "1",
+  "level2": "1.2",
+  "level3": "1.2.1",
+  "pic_name": "data136",
+  "pre_dec_file": "pre_dec_json\\data136_aligned.json",
+  "gt_json_file": "json/gt_json\\data136_gt.json",
+  "is_longtail": "True",
+  "Sup_description": "",
+  "lt_ele": "Construction work",
+  "acc_factors": [
+    "Vehicles ahead",
+    "Affects own vehicle's passage",
+    "No lane-borrowing possibility"
+  ],
+  "post_dec": "Park safely and replan the route",
+  "pic_path": "..\\pic\\data136.png"
+}

json/data137.json

@@ -0,0 +1,18 @@
+{
+  "level1": "2",
+  "level2": "2.5",
+  "level3": "2.5.1",
+  "pic_name": "data137",
+  "pre_dec_file": "pre_dec_json\\data137_aligned.json",
+  "gt_json_file": "json/gt_json\\data137_gt.json",
+  "is_longtail": "True",
+  "Sup_description": "",
+  "lt_ele": "Road surface damage-Severe",
+  "acc_factors": [
+    "Vehicles ahead",
+    "Affects own vehicle's passage",
+    "Lane-borrowing possible"
+  ],
+  "post_dec": "Slow down and take a detour",
+  "pic_path": "..\\pic\\data137.png"
+}

json/data138.json

@@ -0,0 +1,18 @@
+{
+  "level1": "3",
+  "level2": "3.5",
+  "level3": "3.5.1",
+  "pic_name": "data138",
+  "pre_dec_file": "pre_dec_json\\data138_aligned.json",
+  "gt_json_file": "json/gt_json\\data138_gt.json",
+  "is_longtail": "True",
+  "Sup_description": "",
+  "lt_ele": "Ground obstacle",
+  "acc_factors": [
+    "Vehicles ahead",
+    "Affects own vehicle's passage",
+    "No lane-borrowing possibility temporarily"
+  ],
+  "post_dec": "Wait for avoidance and take a detour",
+  "pic_path": "..\\pic\\data138.png"
+}

json/data139.json

@@ -0,0 +1,18 @@
+{
+  "level1": "2",
+  "level2": "2.1",
+  "level3": "2.1.2",
+  "pic_name": "data139",
+  "pre_dec_file": "pre_dec_json\\data139_aligned.json",
+  "gt_json_file": "json/gt_json\\data139_gt.json",
+  "is_longtail": "True",
+  "Sup_description": "",
+  "lt_ele": "Falling objects from above",
+  "acc_factors": [
+    "Vehicles ahead",
+    "Affects own vehicle's passage",
+    "No lane-borrowing possibility temporarily"
+  ],
+  "post_dec": "Wait for avoidance and take a detour",
+  "pic_path": "..\\pic\\data139.png"
+}

json/data14.json

@@ -0,0 +1,18 @@
+{
+  "level1": "2",
+  "level2": "2.5",
+  "level3": "2.5.1",
+  "pic_name": "data14",
+  "pre_dec_file": "pre_dec_json\\data14_aligned.json",
+  "gt_json_file": "json/gt_json\\data14_gt.json",
+  "is_longtail": "True",
+  "Sup_description": "",
+  "lt_ele": "Road surface damage-Severe",
+  "acc_factors": [
+    "Vehicles ahead",
+    "Affects own vehicle's passage",
+    "Lane-borrowing possible"
+  ],
+  "post_dec": "Slow down and take a detour",
+  "pic_path": "..\\pic\\data14.png"
+}