SensoDat: Simulation-based Sensor Dataset of Self-driving Cars
Developing tools in the context of autonomous systems [22, 24 ], such as self-driving cars (SDCs), is time-consuming and costly since researchers and practitioners rely on expensive computing hardware and simulation software. We propose SensoDat, a dataset of 32,580 executed simulation-based SDC test cases generated with state-of-the-art test generators for SDCs. The dataset consists of trajectory logs and a variety of sensor data from the SDCs (e.g., rpm, wheel speed, brake thermals, transmission, etc.) represented as a time series. In total, SensoDat provides data from 81 different simulated sensors. Future research in the domain of SDCs does not necessarily depend on executing expensive test cases when using SensoDat. Furthermore, with the high amount and variety of sensor data, we think SensoDat can contribute to research, particularly for AI development, regression testing techniques for simulation-based SDC testing, flakiness in simulation, etc. Link to the dataset: https://doi.org/10.5281/zenodo.10307479
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SensoDat: Simulation-based Sensor Dataset of Self-driving Cars
- 1. SensoDat: Simulation-based Sensor Dataset of Self-driving Cars Christian Birchler Sebastiano Panichella Timo Kehrer Cyrill Rohrbach Data Showcase 21. Intl. Conference on Mining Software Repositories (MSR’24)
- 2. 16/04/2024 Intl. Conference on Mining Software Repositories (MSR'24) 2 How many papers on self-driving cars? 132 papers • Conferences: • MSR • ICSE • ASE • ISSTA • ICST • Journals: • TSE • TOSEM • EMSE • Autonomous vehicle • Self-driving car 37 papers • Simulation
- 3. 16/04/2024 Intl. Conference on Mining Software Repositories (MSR'24) 3 What are the main challenges with simulations? Deprecated simulators Complex installation Hardware requirements (e.g., GPU) Different APIs
- 4. 16/04/2024 Intl. Conference on Mining Software Repositories (MSR'24) 4 An easy-to-use dataset would be ideal for research! github.com/christianbirchler-org/sensodat SensoDat
- 5. 16/04/2024 Intl. Conference on Mining Software Repositories (MSR'24) 5 How do I install SensoDat?
- 6. 16/04/2024 Intl. Conference on Mining Software Repositories (MSR'24) 6 I can use any MongoDB client software!
- 7. 16/04/2024 Intl. Conference on Mining Software Repositories (MSR'24) 7 How is the data structured? Metadata Time-series data
- 8. 16/04/2024 Intl. Conference on Mining Software Repositories (MSR'24) 8 What data does SensoDat have? Steering Brake Throttle Airspeed Clutch RPM Oil Wheel speed Water temperature 81 Fields …
- 9. Intl. Conference on Mining Software Repositories (MSR'24) 16/04/2024 9 How is the dataset composed? 32,580 test cases generated 3 test generators 19,926 passing 12,654 failing
- 10. 16/04/2024 Intl. Conference on Mining Software Repositories (MSR'24) 10 To what extent is the dataset useful? https://www.mongodb.com/docs/ MongoDB query string
- 11. SensoDat: Simulation-based Sensor Dataset of Self-driving Cars Christian Birchler Sebastiano Panichella Timo Kehrer Cyrill Rohrbach Data Showcase 21. Intl. Conference on Mining Software Repositories (MSR’24)