This data contains the system logs for Point One Navigation’s autonomous vehicle that won the Self Racing Cars event in April 2017.

The log files are simple CSV with commanded and actual actuation data as well as position, velocity and heading solutions and subsampled raw inertial data. Images are also available for Saturday’s run.

If you use this data in any public forum (publication, demo, etc.), please properly attribute the data to Point One Navigation, Inc. And if you do something really cool, let us know…we’re looking for great people to join our team!

Point One’s Self Driving Car.
Winning lap, fully autonomous.
Top Speed is ~40mph.

Some general notes:

  • The vehicle contains data in several coordinate systems, in particular ECEF, LLA and a local planar XY/EN projection. For the purposes of motion planning, we recommend just using the “east” and “north” fields below as x and y in a traditional cartesian grid.
  • In the inertial frame, Z is “positive up”, X is “positive rear facing” and Y is “positive toward the passenger side”.
  • These logs are subsampled at 8Hz. Our system normally runs at about 200Hz.
  • If you’re interested in learning more about our system, please let us know.

Saturday 4/1/2017: Session 2 CSV Logs (1.2 MB)
Saturday 4/1/2017: Session 2 KML Track (0.5 MB)
Saturday 4/1/2017: Session 2 Single Lap Images (7.1 GB)
Saturday 4/1/2017: Session 2 Multiple Lap Images (14.1 GB)
Sunday 4/2/2017: Session 2 CSV Logs (Fastest Lap) (3.2 MB)

CSV Log Field Definitions:

  1. pctime – time (seconds) when the state was logged using the PC system clock
  2. fbksteer – Steering feedback value (degrees on the column)
  3. cmdsteer – Commanded steering value (degrees on the column, note this is ZERO when the AI is not running)
  4. fbkbrake – Brake feedback value (master cylinder pressure, unitless)
  5. cmdbrake – Commanded Brake value (master cylinder pressure, unitless)
  6. fbktorque – Reported engine torque (not valid or used)
  7. cmdgas – commanded gas pedal position (unitless)
  8. yawFIR – estimated heading using GPS, radians unwrapped
  9. yawEXP – estimated heading using GPS, lagged, radians unwrapped
  10. ecefTime – GPS rx time of the ECEF solution (milliseconds)
  11. ecefTOW – GPS rx time of the ECEF solution (milliseconds)
  12. east – Position in Local planar projection easting component (meters)
  13. north – Position in Local planar projection northing component (meters)
  14. ecefX – ECEF X in centimeters
  15. ecefY – ECEF Y in centimeters
  16. ecefZ – ECEF Z in centimeters
  17. ecefVx – ECEF X velocity (m/s)
  18. ecefVy – ECEF Y velocity (m/s)
  19. ecefVz – ECEF Z velocity (m/s)
  20. velTOW – GPS rx time of Velocity solution (milliseconds)
  21. velSpeed – Speed vector magnitude (m/s)
  22. velVe – Speed vector (easting component)
  23. velVn – Speed vector (northing component)
  24. navTOW – GPS rx time of the Navigation solution (milliseconds)
  25. navVE – Speed vector (easting component)
  26. navVN – Speed vector (northing component)
  27. navGSpeed – Speed over ground (not used)
  28. navGSpeedAcc – Estimated accuracy of speed over ground (not used)
  29. navHeadingMotion – Internal receiver estimate of heading 1 (not used)
  30. navHeadingVehicle – Internal receiver estimate of heading 2 (not used)
  31. navHeadingAcc – Internal receiver estimate of heading accuracy (not used)
  32. imuts – GPS rx time of IMU measurements
  33. imugyroX – Gyro X component (rad/sec)
  34. imugyroY – Gyro Y component (rad/sec)
  35. imugyroZ – Gyro Z component (rad/sec)
  36. imuaccelX – Accel X component (m/s^2)
  37. imuaccelY – Accel Y component (m/s^2)
  38. imuaccelZ – Accel Z component (m/s^2)
  39. imutemp – Temperature (die) in C
  40. imusequence – measurement counter
  41. leftRearWheel – Wheelspeed from CANBUS (roughly m/s)
  42. rightRearWheel- Wheelspeed from CANBUS (roughly m/s)
  43. leftFrontWheel- Wheelspeed from CANBUS (roughly m/s)
  44. rightFrontWheel- Wheelspeed from CANBUS (roughly m/s)
  45. yawEKF – EKF predicted heading (coupled GPS+IMU), radians unwrapped
  46. imageTime – the timestamp for camera logs in seconds. Note this doesn’t exist in all logs.

Last Updated April 19, 2017

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