This dataset includes environmental perception, vehicle motion status, and battery consumption during vehicle operation. The dataset is collected by human operators during the safe and smooth operation of vehicles. By dividing the hazardous areas in the current environment of the vehicle and processing them, a radar map of the hazardous areas is generated; The vehicle motion status section contains the position information (x, y, z) and kinematic information (v, w, a, alpha, beta, gamma) of the vehicle.

The operator controls the vehicle to drive in the environment with dense distribution of obstacles, collects the spatial environment data through LIDAR and camera in the process of driving, and then processes the exercisable area map according to the change of longitudinal gradient, which is used to display the distribution of exercisable area in the current driving space of the vehicle, and then carries out the research of humanoid driving according to the distribution of the exercisable area and the data of driving behaviors.