  This work provides a comprehensive analysis on naturalistic driving behavior
for highways based on the highD data set. Two thematic fields are considered.
First, some macroscopic and microscopic traffic statistics are provided. These
include the traffic flow rate and the traffic density, as well as velocity,
acceleration and distance distributions. Additionally, the dependencies to each
other are examined and compared to related work. The second part investigates
the distributions of criticality measures. The Time-To-Collision, Time-Headway
and a third measure, which couples both, are analyzed. These measures are also
combined with other indicators. Scenarios, in which these measures reach a
critical level, are separately discussed. The results are compared to related
work 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 suitable
thresholds for rare traffic scenarios. Second, the statistics provided in this
work can also be utilized for traffic modeling, for example in simulation
environments.
