# Decentralized Vehicle Coordination: The Berkeley DeepDrive Drone Dataset and Consensus-Based Models

arXiv: https://arxiv.org/abs/2209.08763 · HTML: https://mlsanity.com/paper/2209.08763/

## Key facts

- Cited by 3 papers in the map (data through 14 Oct 2026).
- Builds on 10 of its 31 references that are in the map.
- First posted on arXiv 19 Sep 2022.

## Builds on (most cited first, 10 of 10)

- [The Cityscapes Dataset for Semantic Urban Scene Understanding](https://mlsanity.com/paper/1604.01685/) (2016)
- [Scalability in Perception for Autonomous Driving: Waymo Open Dataset](https://mlsanity.com/paper/1912.04838/) (2019)
- [Simple Online and Realtime Tracking](https://mlsanity.com/paper/1602.00763/) (2016)
- [Large Scale Interactive Motion Forecasting for Autonomous Driving : The Waymo Open Motion Dataset](https://mlsanity.com/paper/2104.10133/) (2021)
- [The highD Dataset: A Drone Dataset of Naturalistic Vehicle Trajectories on German Highways for Validation of Highly Automated Driving Systems](https://mlsanity.com/paper/1810.05642/) (2018)
- [A Survey of Motion Planning and Control Techniques for Self-driving Urban Vehicles](https://mlsanity.com/paper/1604.07446/) (2016)
- [INTERACTION Dataset: An INTERnational, Adversarial and Cooperative moTION Dataset in Interactive Driving Scenarios with Semantic Maps](https://mlsanity.com/paper/1910.03088/) (2019)
- [End-to-end Learning of Driving Models from Large-scale Video Datasets](https://mlsanity.com/paper/1612.01079/) (2016)
- [LIDAR-based Driving Path Generation Using Fully Convolutional Neural Networks](https://mlsanity.com/paper/1703.08987/) (2017)
- [Towards Integrated Perception and Motion Planning with Distributionally Robust Risk Constraints](https://mlsanity.com/paper/2002.02928/) (2020)

## Built on by (most cited first, 3 of 3)

- [Deciphering the Definition of Adversarial Robustness for post-hoc OOD Detectors](https://mlsanity.com/paper/2406.15104/) (2024)
- [Supervised and Unsupervised Neural Network Solver for First Order Hyperbolic Nonlinear PDEs](https://mlsanity.com/paper/2601.06388/) (2026)
- [Tetris: Tile-level Sampling for Efficient and High-Fidelity Video Object Tracking](https://mlsanity.com/paper/2605.25538/) (2026)

## Abstract (arXiv)

A significant portion of roads, particularly in densely populated developing countries, lacks explicitly defined right-of-way rules. These understructured roads pose substantial challenges for autonomous vehicle motion planning, where efficient and safe navigation relies on understanding decentralized human coordination for collision avoidance. This coordination, often termed "social driving etiquette," remains underexplored due to limited open-source empirical data and suitable modeling frameworks. In this paper, we present a novel dataset and modeling framework designed to study motion planning in these understructured environments. The dataset includes 20 aerial videos of representative scenarios, an image dataset for training vehicle detection models, and a development kit for vehicle trajectory estimation. We demonstrate that a consensus-based modeling approach can effectively explain the emergence of priority orders observed in our dataset, and is therefore a viable framework for decentralized collision avoidance planning.