Q-Static: IMU Dataset for Vehicle Interaction Events

Published: 12 July 2026| Version 1 | DOI: 10.17632/4yxmkxv5hg.1
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Description

Q-Static is a dataset recorded on two units of a Citroën AMI light electric quadricycle (L6e category) in Matosinhos and Guimarães, Portugal (2025-03-06, 2025-05-14, 2026-05-19, 2026-06-02). The dataset comprises 51 collection sessions totalling 4,298 annotated events and approximately 5 hours and 32 minutes of recorded data, conducted across four collection dates. The dataset includes synchronised sensor data from: - ROS 2 vehicle-mounted IMU (200 Hz) - Smartphone-based system (SMC): accelerometer and gyroscope streams (500 Hz) for redundant inertial measurements The dataset contains controlled static sequences (ami_no_) following a predefined entry/exit protocol with systematic variation of passenger roles, weight ranges, IMU positions, and road slopes; random static sequences (ami_static_test_) with unscripted occupant behaviour; dynamic sequences (ami_test_*) including driving segments; and door-only sequences (ami_ct_doors) isolating door open/close events. Occupant configurations ranged from 1 to 3 passengers across 5 participants. Two distinct vehicle units were used across collection dates, introducing realistic unit-to-unit variability in IMU response. The dataset is organised as follows: - data/original_data/ — Raw sensor recordings (CSV) - data/processed_data/ — Vehicle-aligned IMU components, derived features, and semantic labels - data/labeling/ — Per-collection annotation files (JSON) - auxiliary_files/ — Variable dictionary and data collection guidelines - documentation/ — Acquisition and annotation methodology

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Institutions

Categories

Embedded System, Motion Detection, Accelerometer, Electric Vehicles, Inertial Fusion, Vehicle Mobility, Gyroscope, Action Recognition, Electric Motor

Funders

  • European Union under the NextGenerationEU, through a grant of the Portuguese Republic’s Recovery and Resilience Plan (PRR) Partnership Agreement, within the scope of the project BE.NEUTRAL – Agenda da Mobilidade para a neutralidade carbónica das cidades.
    Grant ID: Project ref. nr. 35 - C644874240-00000016

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