ERRATUM (11.11.2012): There was an error in the originally supplied vehicle data file “vehicledata.txt” within “TestData_Vehicle.tgz”. The column labeled as “yaw_rate” did not contain the yaw rate but the steering angle. In the now corrected vehicle data file (“vehicledata_v2.txt”), within “TestData_Vehicle.zip”, the yaw_rate has been computed from the steering angle using the provided Matlab function (“steeringAngle2YawRate.m”). The updated version now contains both the yaw rate and the steering angle. We apologize for any inconvenience.
The original authors would appreciate hearing about other publications that make use of the benchmark data set in order to include corresponding references on this website, see contact.