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This work provides a comprehensive analysis on naturalistic driving behaviorfor highways based on the highD data set. Two thematic fields are considered.First, some macroscopic and microscopic traffic statistics are provided. Theseinclude the traffic flow rate and the traffic density, as well as velocity,acceleration and distance distributions. Additionally, the dependencies to eachother are examined and compared to related work. The second part investigatesthe distributions of criticality measures. The Time-To-Collision, Time-Headwayand a third measure, which couples both, are analyzed. These measures are alsocombined with other indicators. Scenarios, in which these measures reach acritical level, are separately discussed. The results are compared to relatedwork as well. The two main contributions of this work can be stated as follows.First, the analysis on the criticality measures can be used to find suitablethresholds for rare traffic scenarios. Second, the statistics provided in thiswork can also be utilized for traffic modeling, for example in simulationenvironments.

Highway traffic data: macroscopic, microscopic and criticality analysis  for capturing relevant traffic scenarios and traffic modeling based on the  highD data set