构建25种可控条件的环岛交通仿真数据集,量化天气与车流密度对轨迹预测的影响。
CARLA-Round: A Multi-Factor Simulation Dataset for Roundabout Trajectory Prediction
- 通过系统设计25种环岛场景,分离天气与车流密度因素。
- 车流密度越高,预测难度越大,且影响呈单调上升趋势。
- 适合研究自动驾驶轨迹预测与仿真数据迁移的团队使用。
准确预测环岛处车辆轨迹对减少交通事故至关重要,但因其环形道路结构、持续变道与让行交互以及无信号灯控制而极具挑战。现有真实数据受限于观测不全和多因素混杂,难以分离影响。本文提出CARLA-Round,一个系统化设计的环岛轨迹预测仿真数据集,涵盖五种天气条件与五级交通密度(对应通行服务水平A-E),共25种受控场景。每个场景包含真实驾驶行为混合,并提供明确标注,弥补现有数据缺失。相比随机采样仿真数据,该结构化设计可精确分析各因素对预测性能的影响。基于标准基线(LSTM、GCN、GRU+GCN)的验证表明,交通密度是主导因素,影响呈强单调性;天气则呈现非线性影响。最优模型在真实世界环岛数据集上达到0.312m ADE,证明了有效的模拟到现实迁移能力。该方法首次在可控环境中量化了各因素影响,为未来研究提供基准。数据集已公开于https://github.com/Rebecca689/CARLA-Round。
原文摘要 · Abstract (English)
Accurate trajectory prediction of vehicles at roundabouts is critical for reducing traffic accidents, yet it remains highly challenging due to their circular road geometry, continuous merging and yielding interactions, and absence of traffic signals. Developing accurate prediction algorithms relies on reliable, multimodal, and realistic datasets; however, such datasets for roundabout scenarios are scarce, as real-world data collection is often limited by incomplete observations and entangled factors that are difficult to isolate. We present CARLA-Round, a systematically designed simulation dataset for roundabout trajectory prediction. The dataset varies weather conditions (five types) and traffic density levels (spanning Level-of-Service A-E) in a structured manner, resulting in 25 controlled scenarios. Each scenario incorporates realistic mixtures of driving behaviors and provides explicit annotations that are largely absent from existing datasets. Unlike randomly sampled simulation data, this structured design enables precise analysis of how different conditions influence trajectory prediction performance. Validation experiments using standard baselines (LSTM, GCN, GRU+GCN) reveal traffic density dominates prediction difficulty with strong monotonic effects, while weather shows non-linear impacts. The best model achieves 0.312m ADE on real-world rounD dataset, demonstrating effective sim-to-real transfer. This systematic approach quantifies factor impacts impossible to isolate in confounded real-world datasets. Our CARLA-Round dataset is available at https://github.com/Rebecca689/CARLA-Round.
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