优化车辆生成位置偏差问题，新增红绿灯信息采集方法

2025-10-21 13:31:18 +08:00
parent 1974aaee03
commit 22ce995916
23 changed files with 2712 additions and 23 deletions
--- a/Env/run_multiagent_env_fast.py
+++ b/Env/run_multiagent_env_fast.py
@@ -0,0 +1,115 @@
+from scenario_env import MultiAgentScenarioEnv
+from simple_idm_policy import ConstantVelocityPolicy
+from metadrive.engine.asset_loader import AssetLoader
+from logger_utils import setup_logger
+import time
+import sys
+import os
+
+WAYMO_DATA_DIR = r"/home/huangfukk/MAGAIL4AutoDrive/Env"
+
+def main(enable_logging=False):
+    """极致性能优化版本 - 启用所有优化选项"""
+    env = MultiAgentScenarioEnv(
+        config={
+            "data_directory": AssetLoader.file_path(WAYMO_DATA_DIR, "exp_converted", unix_style=False),
+            "is_multi_agent": True,
+            "num_controlled_agents": 3,
+            "horizon": 300,
+            
+            # 关闭所有渲染
+            "use_render": False,
+            "render_pipeline": False,
+            "image_observation": False,
+            "interface_panel": [],
+            "manual_control": False,
+            "show_fps": False,
+            "debug": False,
+            
+            # 物理引擎优化
+            "physics_world_step_size": 0.02,
+            "decision_repeat": 5,
+            
+            "sequential_seed": True,
+            "reactive_traffic": True,
+            
+            # 车道检测与过滤配置
+            "filter_offroad_vehicles": True,  # 过滤非车道区域的车辆
+            "lane_tolerance": 3.0,
+            "max_controlled_vehicles": 15,  # 限制车辆数以提升性能
+        },
+        agent2policy=ConstantVelocityPolicy(target_speed=50)
+    )
+    
+    # 【关键优化】启用激光雷达缓存
+    # 每3帧才重新计算激光雷达，其余帧使用缓存
+    # 可将激光雷达计算量减少到原来的1/3
+    env.lidar_cache_interval = 3
+    
+    obs = env.reset(0)
+    
+    # 性能统计
+    start_time = time.time()
+    total_steps = 0
+    
+    print("=" * 60)
+    print("极致性能模式")
+    print("激光雷达优化：80→40束 (前向), 10→6束 (侧向+车道线)")
+    print("激光雷达缓存：每3帧计算一次，中间帧使用缓存")
+    print("预期性能提升：3-5倍")
+    print("=" * 60)
+    
+    for step in range(10000):
+        actions = {
+            aid: env.controlled_agents[aid].policy.act()
+            for aid in env.controlled_agents
+        }
+
+        obs, rewards, dones, infos = env.step(actions)
+        total_steps += 1
+        
+        # 每100步输出一次性能统计
+        if step % 100 == 0 and step > 0:
+            elapsed = time.time() - start_time
+            fps = total_steps / elapsed
+            print(f"Step {step:4d}: FPS = {fps:6.2f}, 车辆数 = {len(env.controlled_agents):3d}, "
+                  f"平均步时间 = {1000/fps:.2f}ms")
+
+        if dones["__all__"]:
+            break
+
+    # 最终统计
+    elapsed = time.time() - start_time
+    fps = total_steps / elapsed
+    print("\n" + "=" * 60)
+    print(f"总计: {total_steps} 步")
+    print(f"耗时: {elapsed:.2f}s")
+    print(f"平均FPS: {fps:.2f}")
+    print(f"单步平均耗时: {1000/fps:.2f}ms")
+    print("=" * 60)
+    
+    env.close()
+
+
+if __name__ == "__main__":
+    # 解析命令行参数
+    enable_logging = "--log" in sys.argv or "-l" in sys.argv
+    
+    # 提取自定义日志文件名
+    log_file = None
+    for arg in sys.argv:
+        if arg.startswith("--log-file="):
+            log_file = arg.split("=")[1]
+            break
+    
+    if enable_logging:
+        # 使用日志记录
+        log_dir = os.path.join(os.path.dirname(__file__), "logs")
+        with setup_logger(log_file=log_file or "run_fast.log", log_dir=log_dir):
+            main(enable_logging=True)
+    else:
+        # 普通运行（只输出到终端）
+        print("💡 提示: 使用 --log 或 -l 参数启用日志记录")
+        print("-" * 60)
+        main(enable_logging=False)
+