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arXiv · 2512.11802

Benchmarking Tesla's Traffic Light and Stop Sign Control: Field Dataset and Behavior Insights

Zheng Li·Peng Zhang·Shixiao Liang·Hang Zhou·Chengyuan Ma·Handong Yao·Qianwen Li·Xiaopeng Li
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Abstract

Understanding how Advanced Driver-Assistance Systems (ADAS) interact with Traffic Control Devices (TCDs) is critical for assessing their influence on traffic operations, yet this interaction has received little focused empirical study. This paper presents a field dataset and behavioral analysis of Tesla's Traffic Light and Stop Sign Control (TLSSC), a mature ADAS that perceives traffic lights and stop signs. We design and execute experiments across varied speed limits and TCD types, collecting synchronized high-resolution vehicle trajectory data and driver-perspective video. From these data, we develop a taxonomy of TLSSC-TCD interaction behaviors (i.e., stopping, accelerating, and car following) and calibrate the Full Velocity Difference Model (FVDM) to quantitatively characterize each behavior mode. A novel empirical insight is the identification of a car-following threshold (~90 m). Calibration results reveal that stopping behavior is driven by strong responsiveness to both desired speed deviation and relative speed, whereas accelerating behavior is more conservative. Intersection car-following behavior exhibits smoother dynamics and tighter headways compared to standard car-following behaviors. The established dataset, behavior definitions, and model characterizations together provide a foundation for future simulation, safety evaluation, and design of ADAS-TCD interaction logic. Our dataset is available at GitHub.

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Zheng Li, Peng Zhang, Shixiao Liang, Hang Zhou, Chengyuan Ma, Handong Yao, Qianwen Li, Xiaopeng Li. 2025-10-31. Benchmarking Tesla's Traffic Light and Stop Sign Control: Field Dataset and Behavior Insights. https://arxiv.org/abs/2512.11802

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