  There is a growing need for vehicle positioning information to support
Advanced Driver Assistance Systems (ADAS), Connectivity (V2X), and Autonomous
Driving (AD) features. These range from a need for road determination ($<$5
meters), lane determination ($<$1.5 meters), and determining where the vehicle
is within the lane ($<$0.3 meters). This paper presents the Ford Highway
Driving RTK (Ford-HDR) dataset. This dataset includes nearly 30,000 km of data
collected primarily on North American highways during a driving campaign
designed to validate driver assistance features in 2018. This includes data
from a representative automotive production GNSS used primarily for
turn-by-turn navigation as well as an Inertial Navigation System (INS) which
couples two survey-grade GNSS receivers with a tactical grade Inertial
Measurement Unit (IMU) to act as ground truth. The latter utilized networked
Real-Time Kinematic (RTK) GNSS corrections delivered over a cellular modem in
real-time. This dataset is being released into the public domain to spark
further research in the community.
