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traffic_agents.md

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Traffic Agent Policies

NAVSIM v2 introduces support for reactive traffic agents, allowing surrounding vehicles to respond to the ego-vehicle. However, the ego-vehicle itself remains nonreactive, no environment updates will be looped back into the planner. As in NAVSIM v1, the ego-agent must commit to a single plan, which is executed for the entire simulation horizon.

Available Traffic Agent Policies

  1. Log-Replay (Non-Reactive)

    • Identical to NAVSIM v1, traffic agents strictly follow recorded trajectories without reacting to the ego-vehicle.

  2. Constant-Velocity (Debugging Only)

    • Traffic agents move in a straight line at a fixed velocity, providing a simple baseline for debugging.

  3. IDM (Intelligent Driver Model) (Reactive)

    • Similar to nuPlan, this model simulates traffic agents with more realistic behavior, adjusting speed and spacing based on road conditions.
    • Pedestrians, static objects, and other non-vehicle agents still follow pre-recorded log data.

Selecting a Traffic Agents Policy

For single-stage simulation, you can specify the traffic agent policy by providing an override when running the evaluation script navsim/planning/script/run_pdm_score_one_stage.py.

An example can be found in the commented section of the script run_cv_pdm_score_evaluation.sh. For instance:

traffic_agents=non_reactive or traffic_agents=reactive

This makes it easy to switch between different traffic agent policies depending on your evaluation requirements.

In two-stage simulations (e.g., for Hugging Face submissions), reactive traffic agents are used by default.

All available traffic agents policies can be found here

Learning-based Traffic Simulation

We aim to expand NAVSIM v2 with additional traffic policies, particularly learning-based models.