| --- |
| license: other |
| license_name: upstream-assets-see-acknowledgements |
| pretty_name: munich2drive |
| task_categories: |
| - video-classification |
| tags: |
| - autonomous-driving |
| - trajectory-prediction |
| - motion-planning |
| - carla |
| - commonroad |
| - sumo |
| - surround-view |
| - munich |
| size_categories: |
| - n<1K |
| dataset_info: |
| features: |
| - name: mp4 |
| dtype: video |
| - name: clip_id |
| dtype: string |
| - name: scenario_id |
| dtype: int64 |
| - name: ego_id |
| dtype: int64 |
| - name: version |
| dtype: string |
| - name: map |
| dtype: string |
| - name: weather |
| dtype: string |
| - name: sun_altitude_deg |
| dtype: float64 |
| - name: precipitation |
| dtype: float64 |
| - name: wetness |
| dtype: float64 |
| - name: night |
| dtype: bool |
| - name: n_agents |
| dtype: int64 |
| - name: agents_by_type |
| struct: |
| - name: CAR |
| dtype: int64 |
| - name: TRUCK |
| dtype: int64 |
| - name: BUS |
| dtype: int64 |
| - name: BICYCLE |
| dtype: int64 |
| - name: MOTORCYCLE |
| dtype: int64 |
| - name: horizon_steps |
| dtype: int64 |
| - name: dt_s |
| dtype: float64 |
| - name: audit_clean |
| dtype: bool |
| - name: max_pose_error_m |
| dtype: float64 |
| - name: max_height_dev_m |
| dtype: float64 |
| - name: ground_layer_corrections |
| dtype: int64 |
| - name: actors_inherited |
| dtype: int64 |
| - name: actors_surviving_cleanup |
| dtype: int64 |
| - name: ego_blueprint |
| dtype: string |
| - name: ego_collision_events |
| dtype: int64 |
| - name: ego_collisions |
| list: |
| - name: time_step |
| dtype: int64 |
| - name: other |
| dtype: string |
| - name: other_id |
| dtype: int64 |
| - name: impulse |
| dtype: float64 |
| - name: trajectory |
| struct: |
| - name: t |
| list: int64 |
| - name: x |
| list: float64 |
| - name: y |
| list: float64 |
| - name: carla_x |
| list: float64 |
| - name: carla_y |
| list: float64 |
| - name: yaw |
| list: float64 |
| - name: v |
| list: float64 |
| - name: a |
| list: float64 |
| - name: yaw_rate |
| list: float64 |
| - name: n_states |
| dtype: int64 |
| - name: path_length_m |
| dtype: float64 |
| - name: speed_mps |
| struct: |
| - name: mean |
| dtype: float64 |
| - name: max |
| dtype: float64 |
| - name: ego_length_m |
| dtype: float64 |
| - name: ego_width_m |
| dtype: float64 |
| - name: trajectory_source |
| dtype: string |
| splits: |
| - name: train |
| num_bytes: 5646498356 |
| num_examples: 500 |
| download_size: 5646727502 |
| dataset_size: 5646498356 |
| configs: |
| - config_name: default |
| data_files: |
| - split: train |
| path: data/train-* |
| --- |
| |
| # munich2drive |
|
|
| Surround-camera driving clips from a **real Munich HD map** built by |
| [SimForge](https://simforge.ai/), each paired with the **ego vehicle's full trajectory**. Every clip is a nine-panel video -- six surround cameras at |
| the ego's real sensor extrinsics, a chase view, a bird's-eye view, and the frame-locked |
| CommonRoad ground truth -- so what the model sees and what the data says are visible side |
| by side. |
|
|
| - **500 clips** over 50 base scenarios (500 sumo) |
| - 61,200 agent-replays, 79-161 agents per clip |
| - 12 weather / time-of-day conditions, 20 at night |
| - ego paths 10.64-232.85 m (median 108.96 m) |
|
|
| ## Each row |
|
|
| | field | | |
| |---|---| |
| | `mp4` | the 3x3 grid clip (1920x1080, 10 fps, 120 frames) | |
| | `json` | everything below, as one record | |
| | `trajectory` | parallel arrays: `t`, `x`, `y`, `carla_x`, `carla_y`, `yaw`, `v`, `a`, `yaw_rate` | |
| | `path_length_m`, `speed_mps` | trajectory summary | |
| | `weather`, `sun_altitude_deg`, `precipitation`, `wetness`, `night` | conditions | |
| | `n_agents`, `agents_by_type` | surrounding traffic | |
| | `ego_collision_events`, `ego_collisions` | ego collision-sensor events with impulses | |
| | `audit_clean`, `max_pose_error_m`, `max_height_dev_m` | per-clip verification, below | |
|
|
| `x`/`y` are the CommonRoad map frame -- the frame the CommonRoad panel of the video is |
| drawn in. `carla_x`/`carla_y` are the same states in the CARLA world frame, via the |
| verified transform (`carla_x = lx`, `carla_y = -ly` after reprojecting EPSG:3857 to the |
| map's local transverse-Mercator frame; `crdesigner` emits 3857, which is ~1.5x |
| scale-distorted at 48N, so this conversion is not optional). |
|
|
| The trajectory is given in world coordinates; ego-relative future waypoints follow from |
| the state at any `t` by the usual rigid transform. |
|
|
| ## Verification |
|
|
| Rendering audits each clip against its scenario file at 14 time steps and ships the |
| result, so these are measurements, not claims: |
|
|
| - `audit_clean`: **500 / 500** |
| - agent pose error vs CommonRoad: median **0.003 m**, p99 0.022 m, max 1.297 m |
| - height deviation: median 0.034 m, p99 0.248 m, max 0.302 m |
| - clips rendered with actors inherited from a previous run: **0**; with actors surviving cleanup: **0** |
| - clips with at least one ego collision event: 6 of 500. Of the 11 events, **7 are |
| contacts with static traffic signs** and 4 with vehicles -- the sensor reports contact |
| with anything, so this is not a vehicle-collision rate |
|
|
| ## Known limitations |
|
|
| - Traffic is replayed kinematically from recorded SUMO trajectories and does **not** react |
| to the ego. The ego collisions present are therefore predominantly rear-end contacts |
| caused by non-reactive traffic, not ego-at-fault conflicts. |
| - Where SUMO placed two footprints overlapping, the render shows them interpenetrating. |
| - The ego is rendered with a stand-in mesh (`vehicle.volkswagen.t2_2021`), identical |
| across all clips. Its *footprint* throughout the CommonRoad and SUMO data is the |
| real EDGAR size, 4.973 x 1.941 x 2.320 m, so the trajectories are unaffected. |
|
|
| ## Acknowledgements |
|
|
| Munich HD map from [SimForge](https://simforge.ai/); ego vehicle and motion planner from |
| [TUM-AVS](https://github.com/TUM-AVS) (EDGAR digital twin, Frenetix); built on |
| [CARLA](https://carla.org), [CommonRoad](https://commonroad.in.tum.de) and |
| [SUMO](https://eclipse.dev/sumo/). Observe the upstream licences of the HD map, simulator |
| assets and vehicle models. |
|
|
