This article presents a dataset recorded with a sensor-equipped research vehicle on public roads in the city of Coventry in the United Kingdom. The sensor suite includes a monocular-, infrared- and smartphone-camera, as well as a LiDAR unit, GPS receiver, Smartphone sensors and vehicle CAN bus data logger. Data were collected by day and night in a variety of traffic, weather and road surface conditions with a focus on the correlation between vehicle dynamics and the environmental perception process of automated vehicles. Please have a look at attached readme file, where detailed information on the data structure and acquisition process are given.