arXiv:2606.23588cs.ROcs.AI2026-06

用生成模型实现信号交叉口闭环交通仿真,更真实且减少违规。

A Generative Model for Closed-Loop Microsimulation of Signalized Intersections

论文配图:A Generative Model for Closed-Loop Microsimulation of Signalized Intersections
图 1 · 摘自论文原文
  • 以车辆为中心建模,用极坐标编码动态对象和车道线,通过分块注意力预测运动分布。
  • 在4000秒仿真中速度与行程时间分布误差比基线低5倍以上,红灯违规减少超10倍。
  • 适合交通仿真、自动驾驶测试及智能信号控制研究者使用。

交通微观仿真依赖人工设计的行为模型,虽能再现总体车流但忽视车辆间异质交互。学习型轨迹预测虽捕捉更丰富交互,却多为短时且闭环运行时不稳定。本文提出Enactor,一种面向闭环交叉口微仿真的以车辆为中心的生成模型。模型聚焦车辆,行人仅作为影响车辆决策的上下文而不被预测。动态物体与车道折线以参考交叉口中心的极坐标编码。采用具有独立空间与时间注意力模块的Transformer,预测每辆车下一步运动($s$, $α$)的概率分布。训练采用闭环课程,使模型暴露于自身预测。我们在两种场景下评估:在两个交叉口几何结构上进行4000秒仿真内测试,Enactor控制所有动态车辆,面对持续刷新的车辆集合,而非传统固定群体;其恢复的SUMO数据生成器的速度与行程时间分布,相比近期变压器基线,行程时间KL散度降低一个数量级以上,速度误差降低约5倍(站点1),红灯违规减少超过一个数量级。消融实验表明,前车尾部特征对交互动态安全指标影响最大。此外,我们还基于真实世界场数据验证,将相同架构应用于鱼眼相机采集的自然驾驶轨迹,评估多时域预测任务,结果优于恒定速度基线。

原文摘要 · Abstract (English)

Traffic microsimulators rely on hand-crafted behavior models that reproduce aggregate flow but miss the heterogeneous interactions between vehicles at signalized intersections. Learned trajectory predictors capture richer interactions but are short-horizon and tend to be unstable when run in closed loop. We present Enactor, an actor-centric generative model for closed-loop intersection microsimulation. The model focuses on vehicles; pedestrians are included as context that can influence vehicle decisions but not predicted. Dynamic actors and lane polylines are encoded in polar coordinates referenced to the intersection center. A transformer with separate spatial and temporal attention blocks predicts a distribution over each actor's next-step motion ($s$, $α$). Training uses a closed-loop curriculum so the model is exposed to its own predictions. We evaluate Enactor in two regimes. In a 4000-second simulation-in-the-loop test at two intersection geometries, Enactor controls every dynamic vehicle against a continuously refreshing actor set rather than the fixed cohort that learned trajectory predictors are usually evaluated against. It recovers the SUMO data generator's speed and travel-time distributions with KL divergence over an order of magnitude lower than a recent transformer baseline on travel time, and substantially lower on speed (roughly $5\times$ lower at Site 1), and reduces red-light violations relative to the same baseline by more than an order of magnitude. An ablation isolates the leader rear-bumper feature as the change with the largest effect on intersection-aware safety metrics. We also evaluate on real-world field data and apply the same architecture to naturalistic vehicle trajectories from a fish-eye camera at a signalized intersection and evaluate it on multi-horizon predictive tasks. Enactor outperforms a constant-velocity baseline at every horizon evaluated.

交通仿真生成模型闭环控制多智能体

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