Reference

Real traffic data

The real traffic data obtained using measurement vehicles and fixed-point observations is as shown below. From this real traffic data, examples of scenarios corresponding to traffic disturbances were extracted. Data analysis was performed for each example, and parameters describing the scenario were calculated ^※ ．

※　Some of the results of the analysis were used to create this public version.

Real data from measurement vehicles

Real traffic data was collected on the Metropolitan Expressway and the Tomei and Shin-Tomei Expressways from FY2018 to FY2021. The driving times and mileages for each are shown below.

Location	Time(h:mm:ss)	Mileage(km)
Metropolitan Expressway	1384:44:37	69,215
Tomei and Shin-Tomei Expressways	1845:05:58	110,507
Total	3229:50:35	179,722

There are two driving routes on the Metropolitan Expressway: Route A and Route B, as shown below.

Route A (25 minutes), Route B (40 minutes)

The driving route on the Tomei and Shin-Tomei Expressways is shown below.

Real traffic data from fixed point observations

From 2018 to FY2022, we conducted fixed-point observations and collected actual traffic data at the locations listed below.

Location	Observation year	Analysis time[min]
Metropolitan Expressway Route 1 Downbound_Hinode_Main Line	2018	320
Metropolitan Expressway Route 4 Upbound_Sangu-bashi_Main Line	2018	40
Daisan-Keihin Road, Outbound, Kouhoku IC, Main Line	2018	165
Metropolitan Expressway Route 5 Downbound_Higashi-Ikebukuro_Merge	2019	900
Metropolitan Expressway Route 5 Upbound_Higashi-Ikebukuro_Fork	2019	900
Metropolitan Expressway Route 3 Downbound_Shibuya_Merge	2022	900
Tomei Expressway, outbound, near Hachioji Kaido, main line	2018,2020	220
Tomei Expressway, inbound, Yokohama Machida IC, branch road	2018	70
Tomei Expressway, inbound, Yokohama Machida IC, merge road	2019	380
Tomei Expressway, outbound, Yokohama Machida IC, ramp	2019	80

Names and meanings of icons in the scenario database

The meanings of the icons in the scenario database are as follows:

Parameters describing scenario "No.4"

Parameter	Meaning	Abbreviation
\(V_{e0}\)	Ego vehicle(Autonomous Vehicle) initial longitudinal velocity	Vehicle under test initial longitudinal velocity
\(V_{o0}\)	Initial longitudinal velocity of other vehicle that cut-in in ahead of ego vehicle	Challenging vehicle initial longitudinal velocity
\(V_{e0}-V_{o0}\)	Initial longitudinal velocity of ego vehicle based on other vehicle	Initial longitudinal relative velocity
\(d_{x0}\)	Initial longitudinal distance between ego vehicle and other vehicle	Initial longitudinal distance
\(d_{y0}\)	Initial lateral distance between ego vehicle and other vehicle	Initial lateral distance
\(V_{y}\)	Maximum lateral velocity of other vehicle	Maximum lateral velocity

This diagram is taken from "Autonomous Driving Safety Assessment Framework Ver. 3.0" published by the Japan Automobile Manufacturers Association. In scenario "No. 4," the vehicle and other vehicles start from driving in the center of the lane.