Imitating Driver Behavior with Generative Adversarial Networks

The ability to accurately predict and simulate human driving behavior is critical for the development of intelligent transportation systems. Traditional modeling methods have employed simple parametric models and behavioral cloning. This paper adopts a method for overcoming the problem of cascading errors inherent in prior approaches, resulting in realistic behavior that is robust to trajectory perturbations. We extend Generative Adversarial Imitation Learning to the training of recurrent policies, and we demonstrate that our model outperforms rule-based controllers and maximum likelihood models in realistic highway simulations. Our model both reproduces emergent behavior of human drivers, such as lane change rate, while maintaining realistic control over long time horizons.Comment: 8 pages, 6 figure

Long-lived states in synchronized traffic flow. Empirical prompt and dynamical trap model

The present paper proposes a novel interpretation of the widely scattered states (called synchronized traffic) stimulated by Kerner's hypotheses about the existence of a multitude of metastable states in the fundamental diagram. Using single vehicle data collected at the German highway A1, temporal velocity patterns have been analyzed to show a collection of certain fragments with approximately constant velocities and sharp jumps between them. The particular velocity values in these fragments vary in a wide range. In contrast, the flow rate is more or less constant because its fluctuations are mainly due to the discreteness of traffic flow. Subsequently, we develop a model for synchronized traffic that can explain these characteristics. Following previous work (I.A.Lubashevsky, R.Mahnke, Phys. Rev. E v. 62, p. 6082, 2000) the vehicle flow is specified by car density, mean velocity, and additional order parameters $h$ and $a$ that are due to the many-particle effects of the vehicle interaction. The parameter $h$ describes the multilane correlations in the vehicle motion. Together with the car density it determines directly the mean velocity. The parameter $a$, in contrast, controls the evolution of $h$ only. The model assumes that $a$ fluctuates randomly around the value corresponding to the car configuration optimal for lane changing. When it deviates from this value the lane change is depressed for all cars forming a local cluster. Since exactly the overtaking manoeuvres of these cars cause the order parameter $a$ to vary, the evolution of the car arrangement becomes frozen for a certain time. In other words, the evolution equations form certain dynamical traps responsible for the long-time correlations in the synchronized mode.Comment: 16 pages, 10 figures, RevTeX

A Vehicular Traffic Flow Model Based on a Stochastic Acceleration Process

A new vehicular traffic flow model based on a stochastic jump process in vehicle acceleration and braking is introduced. It is based on a master equation for the single car probability density in space, velocity and acceleration with an additional vehicular chaos assumption and is derived via a Markovian ansatz for car pairs. This equation is analyzed using simple driver interaction models in the spatial homogeneous case. Velocity distributions in stochastic equilibrium, together with the car density dependence of their moments, i.e. mean velocity and scattering and the fundamental diagram are presented.Comment: 27 pages, 6 figure

New Insights into Traffic Dynamics: A Weighted Probabilistic Cellular Automaton Model

From the macroscopic viewpoint for describing the acceleration behavior of drivers, this letter presents a weighted probabilistic cellular automaton model (the WP model, for short) by introducing a kind of random acceleration probabilistic distribution function. The fundamental diagrams, the spatio-temporal pattern are analyzed in detail. It is shown that the presented model leads to the results consistent with the empirical data rather well, nonlinear velocity-density relationship exists in lower density region, and a new kind of traffic phenomenon called neo-synchronized flow is resulted. Furthermore, we give the criterion for distinguishing the high-speed and low-speed neo-synchronized flows and clarify the mechanism of this kind of traffic phenomena. In addition, the result that the time evolution of distribution of headways is displayed as a normal distribution further validates the reasonability of the neo-synchronized flow. These findings suggest that the diversity and randomicity of drivers and vehicles has indeed remarkable effect on traffic dynamics.Comment: 12 pages, 5 figures, submitted to Europhysics Letter

Bayesian Nonparametric Feature and Policy Learning for Decision-Making

Learning from demonstrations has gained increasing interest in the recent past, enabling an agent to learn how to make decisions by observing an experienced teacher. While many approaches have been proposed to solve this problem, there is only little work that focuses on reasoning about the observed behavior. We assume that, in many practical problems, an agent makes its decision based on latent features, indicating a certain action. Therefore, we propose a generative model for the states and actions. Inference reveals the number of features, the features, and the policies, allowing us to learn and to analyze the underlying structure of the observed behavior. Further, our approach enables prediction of actions for new states. Simulations are used to assess the performance of the algorithm based upon this model. Moreover, the problem of learning a driver's behavior is investigated, demonstrating the performance of the proposed model in a real-world scenario

Localized defects in a cellular automaton model for traffic flow with phase separation

We study the impact of a localized defect in a cellular automaton model for traffic flow which exhibits metastable states and phase separation. The defect is implemented by locally limiting the maximal possible flow through an increase of the deceleration probability. Depending on the magnitude of the defect three phases can be identified in the system. One of these phases shows the characteristics of stop-and-go traffic which can not be found in the model without lattice defect. Thus our results provide evidence that even in a model with strong phase separation stop-and-go traffic can occur if local defects exist. From a physical point of view the model describes the competition between two mechanisms of phase separation.Comment: 14 pages, 7 figure