Autonomous Driving Datasets

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Overview

Autonomous driving datasets capture road scenes, road users, vehicle motion, and driving decisions so systems can learn and be tested in varied conditions. They include naturalistic recordings from cameras, LiDAR, radar, vehicles, and drones; simulated or generated scenes; and annotations ranging from object labels and trajectories to maps, risks, and language-based reasoning. Benchmarks use these data to compare perception, forecasting, localization, and planning, including in long-tail scenarios, adverse weather, and cooperative settings. A central challenge is building data that is diverse, well-labeled, and realistic enough to reveal failures beyond familiar routes and short, open-loop tests, while keeping collection and annotation practical.

Latest papers

CardsList

141 papers11 papers in the last four weeks, down 39% on the four weeks before. 0.1% of all new papers.

  1. DRIVE-C: A Controlled Corruption Dataset for Autonomous Driving

    May 10, 2026Shiva AherAutonomous Driving DatasetsAutonomous Driving Benchmarks

    Georgia Institute of Technology, Georgia, United States

  2. 123D: Unifying Multi-Modal Autonomous Driving Data at Scale

    May 8, 2026Daniel Dauner, Valentin Charraut, Bastian Berle +10Autonomous Driving DatasetsAutonomous Driving

    1KE:SAI · University of Tübingen, Tübingen AI Center · 4Valeo Brain +4

  3. CARD: A Multi-Modal Automotive Dataset for Dense 3D Reconstruction in Challenging Road Topography

    May 6, 2026Gasser Elazab, Frank Neuhaus, Tilman Koß +5Autonomous Driving DatasetsAutonomous Driving Benchmarks

    1CARIAD SE · 2Technische Universität Berlin · 3Vision & Robotics GmbH

  4. Learning from the Unseen: Generative Data Augmentation for Geometric-Semantic Accident Anticipation

    Apr 29, 2026Yanchen Guan, Haicheng Liao, Chengyue Wang +4Autonomous Driving DatasetsSynthetic Data Augmentation

    State Key Laboratory of Internet of Things for Smart City, University of Macau, Macau SAR, 999078, China. · Department of Civil Engineering, University of Macau, Macau SAR, 999078, China. · Department of Computer and Information Science, University of Macau, Macau SAR, 999078, China. +1

  5. TRACE: Topology-aware Reconstruction of Accidents in CARLA for AV Evaluation

    Apr 23, 2026Nahian Salsabil, Sebastian ElbaumAutonomous Driving DatasetsAutonomous Driving Benchmarks

    University of Virginia Charlottesville, Virginia, USA

  6. Robust Localization for Autonomous Vehicles in Highway Scenes

    Apr 23, 2026Daqian Cheng, Xuchu Ding, Yujia Wu +2Autonomous Driving DatasetsAutonomous Driving

    Bot Auto · Archer Aviation · Prexa AI

  7. OVPD: A Virtual-Physical Fusion Testing Dataset of OnSite Auton-omous Driving Challenge

    Apr 22, 2026Yuhang Zhang, Jiarui Zhang, Bowen Jian +6Autonomous Driving DatasetsAutonomous Driving Benchmarks

    College of Transportation, Tongji University, Shanghai 201804, China.

  8. ParkingScenes: A Structured Dataset for End-to-End Autonomous Parking in Simulation Scenes

    Apr 20, 2026Haonan Chen, Kaiwen Xiao, Bin Tian +1Autonomous Driving DatasetsEnd-to-End Autonomous Driving

    Institute of Automation · Chinese Academy of Sciences · Beijing, China +3

  9. Unveiling the Surprising Efficacy of Navigation Understanding in End-to-End Autonomous Driving

    Apr 14, 2026Zhihua Hua, Junli Wang, Pengfei LI +6Autonomous DrivingEnd-to-End Autonomous Driving

    College of Intelligent Robotics and Advanced Manufacturing, Fudan University, China · Institute for AI Industry Research (AIR), Tsinghua University · Institute of Automation, Chinese Academy of Sciences +1

  10. ReaLiTy and LADS: A Unified Framework and Dataset Suite for LiDAR Adaptation Across Sensors and Adverse Weather Conditions

    Apr 11, 2026Vivek Anand, Bharat Lohani, Rakesh Mishra +1Autonomous Driving DatasetsAutonomous Driving Simulation

    Geoinformatics Group, Department of Civil Engineering, Indian Institute of Technology Kanpur, India · Department of Geodesy and Geomatics Engineering, University of New Brunswick, NB, Canada · Department of Engineering Technology & Industrial Distribution (ETID) of Texas A&M University

  11. SearchAD: Large-Scale Rare Image Retrieval Dataset for Autonomous Driving

    Apr 9, 2026Felix Embacher, Jonas Uhrig, Marius Cordts +1Autonomous Driving DatasetsImage Retrieval

    Mercedes-Benz AG · Institute for Intelligent Systems, Esslingen University of Applied Sciences

  12. BATON: A Multimodal Benchmark for Bidirectional Automation Transition Observation in Naturalistic Driving

    Apr 8, 2026Yuhang Wang, Yiyao Xu, Chaoyun Yang +3Autonomous Driving BenchmarksAutonomous Driving Datasets

    University of South Florida Tampa, Florida, USA · Tongji University Shanghai, China · University of Arizona Tucson, Arizona, USA

  13. DSERT-RoLL: Robust Multi-Modal Perception for Diverse Driving Conditions with Stereo Event-RGB-Thermal Cameras, 4D Radar, and Dual-LiDAR

    Apr 4, 2026Hoonhee Cho, Jae-Young Kang, Yuhwan Jeong +4Autonomous Driving DatasetsAutonomous Driving Benchmarks

    Visual Intelligence Lab, KAIST

  14. V2X-QA: A Comprehensive Reasoning Dataset and Benchmark for Multimodal Large Language Models in Autonomous Driving Across Ego, Infrastructure, and Cooperative Views

    Apr 3, 2026Junwei You, Pei Li, Zhuoyu Jiang +7Autonomous Driving BenchmarksVLMs for Autonomous Driving

    Department of Civil and Environmental Engineering, University of Wisconsin–Madison, Madison, WI, 53706, USA · Department of Civil and Architectural Engineering and Construction Management, University of Wyoming, Laramie, WY, 82071, USA · Kuaishou Technology, Beijing, 100085, China +1

  15. VRUD: A Drone Dataset for Complex Vehicle-VRU Interactions within Mixed Traffic

    Apr 1, 2026Ziyu Wang, Hongrui Kou, Cheng Wang +4Autonomous Driving DatasetsAutonomous Driving

    National Key Laboratory of Automotive Chassis Integration and Bionics, Jilin University, Changchun 130025, China · DRIVEResearch, Changchun, China · School of Engineering and Physical Sciences, Heriot-Watt University, Edinburgh EH1 4AS, U.K. +1

  16. A global dataset of continuous urban dashcam driving

    Apr 1, 2026Md Shadab Alam, Olena Bazilinska, Pavlo BazilinskyyAutonomous Driving Datasets

    Eindhoven University of Technology, Eindhoven, The Netherlands · National University of Kyiv-Mohyla Academy, Kyiv, Ukraine

  17. From Big Data to Fast Data: Towards High-Quality Datasets for Machine Learning Applications from Closed-Loop Data Collection

    Mar 31, 2026Philipp Reis, Jacqueline Henle, Stefan Otten +1Training Data CurationTraining Data Selection

    FZI Research Center for Information Technology, Karlsruhe, Germany

  18. ForestSim: A Synthetic Benchmark for Intelligent Vehicle Perception in Unstructured Forest Environments

    Mar 30, 2026Pragat Wagle, Zheng Chen, Lantao LiuAutonomous Driving DatasetsSynthetic Benchmark Generation

    Luddy School of Informatics, Computing, and Engineering, Indiana University, Bloomington, IN 47408, USA

  19. Class-Distribution Guided Active Learning for 3D Occupancy Prediction in Autonomous Driving

    Mar 28, 2026Wonjune Kim, In-Jae Lee, Sihwan Hwang +2Active Learning3D Occupancy Prediction

    Robotics Program, KAIST, Daejeon 34141, South Korea · Interdisciplinary Program in Artificial Intelligence, Seoul National University, Seoul 08826, South Korea · Graduate School of Mobility, KAIST, Daejeon 34051, South Korea +1

  20. An Instance-Centric Panoptic Occupancy Prediction Benchmark for Autonomous Driving

    Mar 28, 2026Yi Feng, Junwu E, Zizhan Guo +33D Occupancy PredictionAutonomous Driving Benchmarks

    Tongji University

  21. Collision-Aware Vision-Language Learning for End-to-End Driving with Multimodal Infraction Datasets

    Mar 26, 2026Alex Koran, Dimitrios Sinodinos, Hadi Hojjati +3End-to-End Autonomous DrivingTraffic Accident Anticipation

    McGill University, Montréal, Canada · Mila - Québec AI Institute, Montréal, Canada · Nissan Motor Corporation, Yokohama, Japan

  22. Vega: Learning to Drive with Natural Language Instructions

    Mar 26, 2026Sicheng Zuo, Yuxuan Li, Wenzhao Zheng +3Autonomous DrivingAutonomous Driving Planning

    Tsinghua University · GigaAI

  23. Can Users Specify Driving Speed? Bench2Drive-Speed: Benchmark and Baselines for Desired-Speed Conditioned Autonomous Driving

    Mar 26, 2026Yuqian Shao, Xiaosong Jia, Langechuan Liu +1Autonomous DrivingAutonomous Driving Benchmarks

    Sch. of Computer Science & Sch. of Artificial Intelligence, Shanghai Jiao Tong University · Institute of Trustworthy Embodied AI (TEAI), Fudan University · NVIDIA

  24. V2U4Real: A Real-world Large-scale Dataset for Vehicle-to-UAV Cooperative Perception

    Mar 26, 2026Weijia Li, Haoen Xiang, Tianxu Wang +4Autonomous Driving DatasetsCooperative Perception

    Fujian Key Laboratory of Urban Intelligent Sensing and Computing, Xiamen University, China · Key Laboratory of Multimedia Trusted Perception and Efficient Computing, Ministry of Education of China, Xiamen University, China

  25. Reasoning models do not yet follow their reasoning in autonomous driving: The KITScenes LongTail Dataset

    Mar 24, 2026Royden Wagner, Omer Sahin Tas, Jaime Villa +20Long-Tail Autonomous DrivingAutonomous Driving

    Karlsruhe Institute of Technology (KIT) · FZI Research Center for Information Technology · Carlos III University of Madrid +5

  26. Traffic Sign Recognition in Autonomous Driving: Dataset, Benchmark, and Field Experiment

    Mar 24, 2026Guoyang Zhao, Weiqing Qi, Kai Zhang +7Autonomous Driving DatasetsAutonomous Driving Perception

    The Hong Kong University of Science and Technology (Guangzhou), Guangzhou 511453, China · Lingnan University, Hong Kong SAR, China · Shenzhen Unity Drive Innovation Technology Co., Ltd., Shenzhen 518063, China +1

  27. Failure Modes for Deep Learning-Based Online Mapping: How to Measure and Address Them

    Mar 20, 2026Michael Hubbertz, Qi Han, Tobias MeisenOOD GeneralizationHD Map Construction

    University of Wuppertal · Aptiv Services Deutschland GmbH

  28. MicroVision: An Open Dataset and Benchmark Models for Detecting Vulnerable Road Users and Micromobility Vehicles

    Mar 18, 2026Alexander Rasch, Rahul Rajendra PaiObject DetectionAutonomous Driving Datasets

    Chalmers University of Technology, Gothenburg, Sweden

  29. DarkDriving: A Real-World Day and Night Aligned Dataset for Autonomous Driving in the Dark Environment

    Mar 18, 2026Wuqi Wang, Haochen Yang, Baolu Li +7Autonomous Driving DatasetsAutonomous Driving Benchmarks

    Chang’an University. · Cleveland State University. · A*STAR.

  30. Toward Deep Representation Learning for Event-Enhanced Visual Autonomous Perception: the eAP Dataset

    Mar 17, 2026Jinghang Li, Shichao Li, Qing Lian +3Autonomous Driving PerceptionAutonomous Driving Datasets

    Neuromorphic Automation and Intelligence Lab (NAIL) at School of AI & Robotics, Hunan University, Changsha 410082, China. · ByteDance, Shenzhen 518063, China. · Zhuoyu Technology, Shenzhen 518055, China.