用摄像头和强化学习优化城市交通信号，实测在感知不全下仍有效。

Traffic simulations are commonly used to optimize urban traffic flow, with reinforcement learning (RL) showing promising potential for automated traffic signal control, particularly in intelligent transportation systems involving connected automated vehicles. Multi-agent reinforcement learning (MARL) is particularly effective for learning control strategies for traffic lights in a network using iterative simulations. However, existing methods often assume perfect vehicle detection, which overlooks real-world limitations related to infrastructure availability and sensor reliability. This study proposes a co-simulation framework integrating CARLA and SUMO, which combines high-fidelity 3D modeling with large-scale traffic flow simulation. Cameras mounted on traffic light poles within the CARLA environment use a YOLO-based computer vision system to detect and count vehicles, providing real-time traffic data as input for adaptive signal control in SUMO. MARL agents trained with four different reward structures leverage this visual feedback to optimize signal timings and improve network-wide traffic flow. Experiments in a multi-intersection test-bed demonstrate the effectiveness of the proposed MARL approach in enhancing traffic conditions using real-time camera based detection. The framework also evaluates the robustness of MARL under faulty or sparse sensing and compares the performance of YOLOv5 and YOLOv8 for vehicle detection. Results show that while better accuracy improves performance, MARL agents can still achieve significant improvements with imperfect detection, demonstrating scalability and adaptability for real-world scenarios.