## 3 Dataset Description and Processing
### HD Maps Lanelet2  
In addition to these four files for each recording, maps for the seven recording locations are also provided, including Lanelet2 maps [20] and OpenDRIVE maps [21]. HD maps contain comprehensive information about the vehicle's surroundings. This information encompasses not only road geometry and road topology but also includes details about traffic regulations and neighboring regions. The readily available road topology in HD \begin{table}
\begin{tabular}{c c c} \hline \hline
**Number** & **Symbol** & **Description** & **Unit** \\ \hline
1 & _recordingId_ & Recording Record ID, each recording video has a unique ID for identification. & - \\
2 & _locatiId_ & Recording Location ID. & - \\
3 & _duration_ & Recording Duration. & s \\
4 & _latLocation_ & Approximate Latitude Coordinates of Recording Location. & deg \\
5 & _lonLocation_ & Approximate Longitude Coordinates of Recording Location. & deg \\
6 & _initialFrame_ & Frame Number at the Start of the Trajectory. & - \\
7 & _finalFrame_ & Frame Number at the End of the Trajectory. & - \\
8 & _class_ & Vehicle Type. & - \\
9 & _trackId_ & Trajectory ID. IDs are assigned in ascending order to each trajectory in the video. & - \\
10 & _lonVelocity_ & Longitudinal Velocity. & m/s \\
11 & _latVelocity_ & Lateral Velocity. & m/s \\
12 & _latAcceleration_ & Longitudinal Acceleration. & m/s\({}^{2}\) \\
13 & _lonAcceleration_ & Lateral Acceleration. & m/s\({}^{2}\) \\
14 & _latLanceCenterOffset_ & Lateral Offset of the Vehicle’s Center of Mass Relative to the Nearest Point on the Lane Centerline of the Lane the Vehicle is Currently Traveling. & m \\
15 & _laneletId_ & According to the Lanelet2 map, the sequence number (ID) of the lane in which the vehicle is currently traveling. & - \\
16 & _laneChange_ & Whether the lane number changes in the lateral direction. & 0.1 \\
17 & _laneletLength_ & The full length of the lane the vehicle is currently traveling in. & m \\
18 & _leadId_ & The ID of the preceding vehicle in the same lane. & - \\
19 & _rearId_ & The ID of the following vehicle in the same lane. & - \\
20 & _leftLeadId_ & The ID of the preceding vehicle in the left adjacent lane in the direction of travel or in a further left adjacent lane. & - \\
21 & _leftAlongsidelId_ & The ID of vehicles traveling in parallel with the vehicle on its left or in the left adjacent lane in the direction of travel, and having a longitudinal overlap with the vehicle. & - \\
22 & _leftRearId_ & The ID of the vehicle in the left adjacent lane or a further left adjacent lane behind the vehicle in the direction of travel. & - \\
23 & _rightLeadId_ & The ID of the leading vehicle in the right adjacent lane or a further right adjacent lane in the direction of travel. & - \\
24 & _rightAlongsidelId_ & The list of IDs for vehicles in the right adjacent lane or a further left adjacent lane, which have a longitudinal overlap with the current vehicle in the direction of travel. & - \\
25 & _rightRearId_ & The ID of the vehicle in the right adjacent lane or a further right adjacent lane behind the vehicle in the direction of travel. & - \\ \hline \hline \end{tabular}
\end{table} 
Table 2: Symbol definition for dataset. maps simplifies the extraction of semantic relationships among traffic participants. Lanelet2 is an open-source map format [20]. Unlike other map formats such as OpenDrive [22], HERE [23], and TomTom [24], Lanelet2 does not simulate the world from a top-down perspective but starts from defining individual lane edges and extends to entire streets. This subsection will primarily discuss the constituents of HD maps and the associated elements of Lanelet2 [25]. Detailed information regarding semantic extraction will be presented in Section 2.3. Points are fundamental elements in cartography. An individual point can represent vertical structures, such as utility poles. Typically, they are part of linestrings. Each point is described by its three-dimensional position in the metric coordinate system. Points are the only primitives that actually contain location information.