mlsanityData to 14 Oct 2026

The highD Dataset: A Drone Dataset of Naturalistic Vehicle Trajectories on German Highways for Validation of Highly Automated Driving Systems

arXiv 1810.05642 ↗First posted 11 Oct 2018cs.CV cs.AI cs.IRcited by 277

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Cited by 47 in End-to-end autonomous driving, but placed by its own abstract, which didn’t fit.

Abstract (arXiv)

Scenario-based testing for the safety validation of highly automated vehicles is a promising approach that is being examined in research and industry. This approach heavily relies on data from real-world scenarios to derive the necessary scenario information for testing. Measurement data should be collected at a reasonable effort, contain naturalistic behavior of road users and include all data relevant for a description of the identified scenarios in sufficient quality. However, the current measurement methods fail to meet at least one of the requirements. Thus, we propose a novel method to measure data from an aerial perspective for scenario-based validation fulfilling the mentioned requirements. Furthermore, we provide a large-scale naturalistic vehicle trajectory dataset from German highways called highD. We evaluate the data in terms of quantity, variety and contained scenarios. Our dataset consists of 16.5 hours of measurements from six locations with 110 000 vehicles, a total driven distance of 45 000 km and 5600 recorded complete lane changes. The highD dataset is available online at: http://www.highD-dataset.com

Key facts. Cited by 277 papers in the map (data through 14 Oct 2026). First posted on arXiv 11 Oct 2018.

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Citing papers per year: 2020: 1; 2021: 26; 2022: 33; 2023: 56; 2024: 59; 2025: 67; 2026: 35.

277 papers.

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  1. 2022DAIR-V2X: A Large-Scale Dataset for Vehicle-Infrastructure Cooperative 3D Object Detectioncited by 273
  2. 2024Bench2Drive: Towards Multi-Ability Benchmarking of Closed-Loop End-To-End Autonomous Drivingcited by 252
  3. 2022A Review of Safe Reinforcement Learning: Methods, Theory and Applicationscited by 181
  4. 2023V2X-Seq: A Large-Scale Sequential Dataset for Vehicle-Infrastructure Cooperative Perception and Forecastingcited by 114
  5. 2024Towards learning-based planning:The nuPlan benchmark for real-world autonomous drivingcited by 104
  6. 2024A Survey on Autonomous Driving Datasets: Statistics, Annotation Quality, and a Future Outlookcited by 66
  7. 2021SeaDronesSee: A Maritime Benchmark for Detecting Humans in Open Watercited by 61
  8. 2024Explainable AI for Safe and Trustworthy Autonomous Driving: A Systematic Reviewcited by 53
  9. 2025UAVs Meet LLMs: Overviews and Perspectives Toward Agentic Low-Altitude Mobilitycited by 49
  10. 2022CitySim: A Drone-Based Vehicle Trajectory Dataset for Safety Oriented Research and Digital Twinscited by 43
  11. 2022Causal Imitation Learning with Unobserved Confounderscited by 41
  12. 2022A9-Dataset: Multi-Sensor Infrastructure-Based Dataset for Mobility Researchcited by 40
38 more
  1. 2022EarthNets: Empowering AI in Earth Observationcited by 40
  2. 2025Foundation Models in Autonomous Driving: A Survey on Scenario Generation and Scenario Analysiscited by 38
  3. 2024LC-LLM: Explainable Lane-Change Intention and Trajectory Predictions with Large Language Modelscited by 35
  4. 2021Imagining The Road Ahead: Multi-Agent Trajectory Prediction via Differentiable Simulationcited by 32
  5. 2024V2XPnP: Vehicle-to-Everything Spatio-Temporal Fusion for Multi-Agent Perception and Predictioncited by 31
  6. 2022Behavioral Intention Prediction in Driving Scenes: A Surveycited by 30
  7. 2023The Integration of Prediction and Planning in Deep Learning Automated Driving Systems: A Reviewcited by 29
  8. 2023Data-driven Traffic Simulation: A Comprehensive Reviewcited by 29
  9. 2023BAT: Behavior-Aware Human-Like Trajectory Prediction for Autonomous Drivingcited by 28
  10. 2021IPS300+: a Challenging Multimodal Dataset for Intersection Perception Systemcited by 26
  11. 2023I-24 MOTION: An instrument for freeway traffic sciencecited by 26
  12. 2023Choose Your Simulator Wisely: A Review on Open-source Simulators for Autonomous Drivingcited by 26
  13. 2022Sequential Causal Imitation Learning with Unobserved Confounderscited by 25
  14. 2023Machine Learning for Autonomous Vehicle's Trajectory Prediction: A comprehensive survey, Challenges, and Future Research Directionscited by 23
  15. 2021Leveraging Synthetic Data in Object Detection on Unmanned Aerial Vehiclescited by 22
  16. 2024AgentsCoMerge: Large Language Model Empowered Collaborative Decision Making for Ramp Mergingcited by 22
  17. 2021Variational Autoencoder-Based Vehicle Trajectory Prediction with an Interpretable Latent Spacecited by 21
  18. 2023FollowNet: A Comprehensive Benchmark for Car-Following Behavior Modelingcited by 21
  19. 2024A Cognitive-Based Trajectory Prediction Approach for Autonomous Drivingcited by 20
  20. 2024RAG-based Explainable Prediction of Road Users Behaviors for Automated Driving using Knowledge Graphs and Large Language Modelscited by 20
  21. 2023MTP-GO: Graph-Based Probabilistic Multi-Agent Trajectory Prediction with Neural ODEscited by 19
  22. 2023Learning Safety Constraints from Demonstrations with Unknown Rewardscited by 19
  23. 2024Enhancing Autonomous Vehicle Training with Language Model Integration and Critical Scenario Generationcited by 19
  24. 2022Benchmarking Constraint Inference in Inverse Reinforcement Learningcited by 18
  25. 2022Laplacian Convolutional Representation for Traffic Time Series Imputationcited by 18
  26. 2023Multiview Aerial Visual Recognition (MAVREC): Can Multi-view Improve Aerial Visual Perception?cited by 18
  27. 2021Video action recognition for lane-change classification and prediction of surrounding vehiclescited by 14
  28. 2024Diffusion-Based Environment-Aware Trajectory Predictioncited by 14
  29. 2025Trajectory Prediction Meets Large Language Models: A Surveycited by 14
  30. 2022Deep Learning Serves Traffic Safety Analysis: A Forward-looking Reviewcited by 13
  31. 2022Learning Soft Constraints From Constrained Expert Demonstrationscited by 13
  32. 2024Reliable Trajectory Prediction and Uncertainty Quantification with Conditioned Diffusion Modelscited by 13
  33. 2021Incorporating Kinematic Wave Theory into a Deep Learning Method for High-Resolution Traffic Speed Estimationcited by 12
  34. 2024MFTraj: Map-Free, Behavior-Driven Trajectory Prediction for Autonomous Drivingcited by 12
  35. 2024Advanced computer vision for extracting georeferenced vehicle trajectories from drone imagerycited by 11
  36. 2021Early Lane Change Prediction for Automated Driving Systems Using Multi-Task Attention-based Convolutional Neural Networkscited by 10
  37. 2023Graph-Based Interaction-Aware Multimodal 2D Vehicle Trajectory Prediction using Diffusion Graph Convolutional Networkscited by 10
  38. 2024A Comprehensive Survey on Inverse Constrained Reinforcement Learning: Definitions, Progress and Challengescited by 10

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