# Ford Highway Driving RTK Dataset: 30,000 km of North American Highways

arXiv: https://arxiv.org/abs/2010.01774 · HTML: https://mlsanity.com/paper/2010.01774/

## Key facts

- Cited by 1 papers in the map (data through 7 Oct 2026).
- First posted on arXiv 5 Oct 2020.

## Built on by (most cited first, 1 of 1)

- [Certified Robust Control under Adversarial Perturbations](https://mlsanity.com/paper/2302.02208/) (2023)

## Abstract (arXiv)

There is a growing need for vehicle positioning information to support Advanced Driver Assistance Systems (ADAS), Connectivity (V2X), and Autonomous Driving (AD) features. These range from a need for road determination (<5 meters), lane determination (<1.5 meters), and determining where the vehicle is within the lane (<0.3 meters). This paper presents the Ford Highway Driving RTK (Ford-HDR) dataset. This dataset includes nearly 30,000 km of data collected primarily on North American highways during a driving campaign designed to validate driver assistance features in 2018. This includes data from a representative automotive production GNSS used primarily for turn-by-turn navigation as well as an Inertial Navigation System (INS) which couples two survey-grade GNSS receivers with a tactical grade Inertial Measurement Unit (IMU) to act as ground truth. The latter utilized networked Real-Time Kinematic (RTK) GNSS corrections delivered over a cellular modem in real-time. This dataset is being released into the public domain to spark further research in the community.