# Traffic and Safety Rule Compliance of Humans in Diverse Driving Situations

arXiv: https://arxiv.org/abs/2411.01909 · HTML: https://mlsanity.com/paper/2411.01909/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Builds on 13 of its 31 references that are in the map.
- First posted on arXiv 4 Nov 2024.

## Builds on (most cited first, 13 of 13)

- [Argoverse: 3D Tracking and Forecasting with Rich Maps](https://mlsanity.com/paper/1911.02620/) (2019)
- [Argoverse 2: Next Generation Datasets for Self-Driving Perception and Forecasting](https://mlsanity.com/paper/2301.00493/) (2023)
- [Large Scale Interactive Motion Forecasting for Autonomous Driving : The Waymo Open Motion Dataset](https://mlsanity.com/paper/2104.10133/) (2021)
- [NuPlan: A closed-loop ML-based planning benchmark for autonomous vehicles](https://mlsanity.com/paper/2106.11810/) (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)
- [One Thousand and One Hours: Self-driving Motion Prediction Dataset](https://mlsanity.com/paper/2006.14480/) (2020)
- [INTERACTION Dataset: An INTERnational, Adversarial and Cooperative moTION Dataset in Interactive Driving Scenarios with Semantic Maps](https://mlsanity.com/paper/1910.03088/) (2019)
- [The inD Dataset: A Drone Dataset of Naturalistic Road User Trajectories at German Intersections](https://mlsanity.com/paper/1911.07602/) (2019)
- [Shifts: A Dataset of Real Distributional Shift Across Multiple Large-Scale Tasks](https://mlsanity.com/paper/2107.07455/) (2021)
- [UniTraj: A Unified Framework for Scalable Vehicle Trajectory Prediction](https://mlsanity.com/paper/2403.15098/) (2024)
- [Criticality Metrics for Automated Driving: A Review and Suitability Analysis of the State of the Art](https://mlsanity.com/paper/2108.02403/) (2021)
- [Fairness and Bias in Robot Learning](https://mlsanity.com/paper/2207.03444/) (2022)
- [MEAT: Maneuver Extraction from Agent Trajectories](https://mlsanity.com/paper/2206.05158/) (2022)

## Built on by (most cited first, 2 of 2)

- [Highly Accurate and Diverse Traffic Data: The DeepScenario Open 3D Dataset](https://mlsanity.com/paper/2504.17371/) (2025)
- [OVPD: A Virtual-Physical Fusion Testing Dataset of OnSite Auton-omous Driving Challenge](https://mlsanity.com/paper/2604.20423/) (2026)

## Abstract (arXiv)

The increasing interest in autonomous driving systems has highlighted the need for an in-depth analysis of human driving behavior in diverse scenarios. Analyzing human data is crucial for developing autonomous systems that replicate safe driving practices and ensure seamless integration into human-dominated environments. This paper presents a comparative evaluation of human compliance with traffic and safety rules across multiple trajectory prediction datasets, including Argoverse 2, nuPlan, Lyft, and DeepUrban. By defining and leveraging existing safety and behavior-related metrics, such as time to collision, adherence to speed limits, and interactions with other traffic participants, we aim to provide a comprehensive understanding of each datasets strengths and limitations. Our analysis focuses on the distribution of data samples, identifying noise, outliers, and undesirable behaviors exhibited by human drivers in both the training and validation sets. The results underscore the need for applying robust filtering techniques to certain datasets due to high levels of noise and the presence of such undesirable behaviors.