This dataset contains over 180 hours of CAN bus traffic collected from a Renault Euro VI heavy-duty truck (Renault T520 6X2) over several driving sessions (with different drivers) in varying traffic conditions (e.g. urban, rural). Data is collected from the FMS standard CAN interface operating at 250 kbit/s via a PCAN-USB adapter, and read using python-can library with SocketCAN as the CAN Interface Module. Recorded CAN frames conform to the SAE J1939 standard. All collected frames are data frames (i.e. there are no remote frames). CAN bus data is recorded as comma separated values in .csv files. Each row corresponds to a single CAN frame, and contains timestamp, CAN identifier, data length, and data. Each file contains fifty thousand CAN frames, which correspond to approximately 1 minute of recording.

2021