L Lyft L5 autonomous driving dataset is an L5 level autonomous driving dataset provided by Lyft. Currently, only the training set is available for download. This dataset contains high-quality semantic maps and provides detection of the existence and movement of objects. This dataset provides map information such as more than 4,000 roads, 197 crosswalks, 60 stop signs, and 54 parking areas. This dataset is in nuScenes format. The data is collected from two different versions of cars. Both experimental cars are equipped with 7 cameras and 3 LiDARS, but the camera models and LiDARS types are different. This dataset has broad application prospects and will promote future automated driving.