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arXiv · 2606.15930

ControlMap: Controllable High-Definition Map Generation for Traffic Scenario Simulation

Marwan Farag·Steffen Wäldele·Yu Yao
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Abstract

Simulation is central to validating autonomous driving systems, yet current pipelines are limited by insufficient scenario diversity due to costly High Definition (HD) map creation. Scaling HD maps requires expensive data collection and manual processing. Moreover, existing generative models lack the fine-grained control necessary to target specific road topologies during generation. This paper presents a data-driven pipeline for controllable HD map generation using latent diffusion and ControlNet for spatial conditioning. To our knowledge, we are the first to inject spatial guidance signals into a diffusion model for HD map synthesis. Furthermore, our model supports adjustable conditioning strength through classifier-free guidance and city-level style transfer via city label conditioning. To complement existing metrics, we introduce two novel metrics to evaluate adherence to the control signal and similarity to ground-truth maps. Experiments demonstrate that our model generates realistic HD maps that faithfully follow input road topologies while accurately preserving city-specific details.

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Marwan Farag, Steffen Wäldele, Yu Yao. 2026-06-14. ControlMap: Controllable High-Definition Map Generation for Traffic Scenario Simulation. https://arxiv.org/abs/2606.15930

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