NARRATE：用于自动驾驶中以人为本解释的多模态真实世界澳大利亚驾驶数据集
NARRATE: A Multimodal Real-World Australian Driving Dataset for Human-Centred Explanations in Automated Driving
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中文总结 AI 辅助
研究人员推出多模态真实世界澳大利亚驾驶数据集NARRATE，含2050个带注释事件，提供多类标签与情境意识注释，开展四项基准任务验证其价值，为开发以人为本的自动驾驶解释模型奠定基础。
中文摘要 AI 辅助
自动驾驶汽车必须以乘客能够理解、监控和信任的方式解释其决策。现有的带语言注释的驾驶数据集大多是观察者编写的事后数据、基于模拟的，或是从传感器输入生成的，而非来自执行动作的驾驶员的主动表述。我们推出NARRATE，这是一个多模态真实世界澳大利亚驾驶数据集，包含35名经验丰富的驾驶员和驾驶教练在公共道路上记录的2050个带注释事件。每个事件都基于同步的视觉、定位、运动和LiDAR数据流，并配有车内和/或驾驶后的自由文本解释。NARRATE提供动作标签、涵盖6个高级类别和32个细粒度类别的场景上下文标签，以及针对驾驶员解释中感知、理解和预测的跨度级情境意识（SA）注释。四个基准任务（情境意识、场景上下文、驾驶员动作分类和解释生成）表明，这种结构可从驾驶员语言中学习，而细粒度上下文识别和解释生成仍具挑战性。NARRATE为开发更以人为本、领域感知的自动驾驶解释模型铺平了道路。
英文摘要
Automated vehicles must explain their decisions in ways that passengers can understand, monitor, and trust. Existing language-annotated driving datasets are mostly observer-written, post-hoc, simulation-based, or generated from sensor inputs, rather than elicited from the driver performing the action. We introduce NARRATE, a multimodal real-world Australian driving dataset comprising 2,050 annotated events from 35 experienced drivers and driving instructors on public roads. Each event is grounded in synchronised visual, localisation, motion, and LiDAR streams and paired with in-vehicle and/or post-drive free-text explanations. NARRATE provides action labels, scenario-context labels spanning six high-level and 32 fine-grained categories, and span-level Situational Awareness (SA) annotations over driver explanations for Perception, Comprehension and Projection. Four benchmark tasks (SA, scenario-context, driver-action classification, and explanation generation) show that this structure is learnable from driver language, while fine-grained context recognition and explanation generation remain challenging. NARRATE paves a path towards more human-centred and domain-aware explanation models for automated driving.
发表机构
- ARC Training Centre for Automated Vehicles in Rural and Remote Regions (AVR3)（澳大利亚农村及偏远地区自动驾驶车辆ARC培训中心）
- Université Gustave Eiffel（Gustave Eiffel大学）
- Queensland University of Technology (QUT)（昆士兰科技大学）
机构由 AI 辅助整理，请以论文原文为准。
