503 lines
22 KiB
Python
503 lines
22 KiB
Python
import numpy as np
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from metadrive.component.navigation_module.node_network_navigation import NodeNetworkNavigation
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from metadrive.envs.scenario_env import ScenarioEnv
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from metadrive.component.vehicle.vehicle_type import DefaultVehicle, vehicle_class_to_type
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import math
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import logging
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from collections import defaultdict
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from typing import Union, Dict, AnyStr
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from metadrive.engine.logger import get_logger, set_log_level
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from metadrive.type import MetaDriveType
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class PolicyVehicle(DefaultVehicle):
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def __init__(self, *args, **kwargs):
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super().__init__(*args, **kwargs)
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self.policy = None
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self.destination = None
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def set_policy(self, policy):
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self.policy = policy
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def set_destination(self, des):
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self.destination = des
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def act(self, observation, policy=None):
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if self.policy is not None:
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return self.policy.act(observation)
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else:
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return self.action_space.sample()
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def before_step(self, action):
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self.last_position = self.position # 2D vector
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self.last_velocity = self.velocity # 2D vector
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self.last_speed = self.speed # Scalar
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self.last_heading_dir = self.heading
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if action is not None:
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self.last_current_action.append(action)
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self._set_action(action)
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def is_done(self):
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# arrive or crash
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pass
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vehicle_class_to_type[PolicyVehicle] = "default"
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class MultiAgentScenarioEnv(ScenarioEnv):
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@classmethod
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def default_config(cls):
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config = super().default_config()
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config.update(dict(
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data_directory=None,
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num_controlled_agents=3,
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horizon=1000,
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# 车道检测与过滤配置
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filter_offroad_vehicles=True, # 是否过滤非车道区域的车辆
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lane_tolerance=3.0, # 车道检测容差（米），用于放宽边界条件
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max_controlled_vehicles=None, # 最大可控车辆数限制（None表示不限制）
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# 调试模式配置
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debug_traffic_light=False, # 是否启用红绿灯检测调试输出
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debug_lane_filter=False, # 是否启用车道过滤调试输出
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))
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return config
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def __init__(self, config, agent2policy):
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self.policy = agent2policy
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self.controlled_agents = {}
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self.controlled_agent_ids = []
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self.obs_list = []
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self.round = 0
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# 调试模式配置
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self.debug_traffic_light = config.get("debug_traffic_light", False)
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self.debug_lane_filter = config.get("debug_lane_filter", False)
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super().__init__(config)
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def reset(self, seed: Union[None, int] = None):
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self.round = 0
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if self.logger is None:
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self.logger = get_logger()
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log_level = self.config.get("log_level", logging.DEBUG if self.config.get("debug", False) else logging.INFO)
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set_log_level(log_level)
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self.lazy_init()
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self._reset_global_seed(seed)
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if self.engine is None:
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raise ValueError("Broken MetaDrive instance.")
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# 在engine.reset()之前清理对象
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self.before_reset()
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# 记录专家数据中每辆车的位置，接着全部清除，只保留位置等信息，用于后续生成
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_obj_to_clean_this_frame = []
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self.car_birth_info_list = []
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for scenario_id, track in self.engine.traffic_manager.current_traffic_data.items():
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if scenario_id == self.engine.traffic_manager.sdc_scenario_id:
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continue
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else:
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if track["type"] == MetaDriveType.VEHICLE:
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_obj_to_clean_this_frame.append(scenario_id)
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valid = track['state']['valid']
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first_show = np.argmax(valid) if valid.any() else -1
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last_show = len(valid) - 1 - np.argmax(valid[::-1]) if valid.any() else -1
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# id，出现时间，出生点坐标，出生朝向，目的地
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self.car_birth_info_list.append({
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'id': track['metadata']['object_id'],
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'show_time': first_show,
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'begin': (track['state']['position'][first_show, 0], track['state']['position'][first_show, 1]),
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'heading': track['state']['heading'][first_show],
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'end': (track['state']['position'][last_show, 0], track['state']['position'][last_show, 1])
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})
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for scenario_id in _obj_to_clean_this_frame:
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self.engine.traffic_manager.current_traffic_data.pop(scenario_id)
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self.engine.reset()
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self.reset_sensors()
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self.engine.taskMgr.step()
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self.lanes = self.engine.map_manager.current_map.road_network.graph
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# 调试：场景信息统计
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if self.debug_lane_filter or self.debug_traffic_light:
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print(f"\n📍 场景信息统计:")
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print(f" - 总车道数: {len(self.lanes)}")
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# 统计红绿灯数量
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if self.debug_traffic_light:
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traffic_light_lanes = []
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for lane in self.lanes.values():
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if self.engine.light_manager.has_traffic_light(lane.lane.index):
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traffic_light_lanes.append(lane.lane.index)
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print(f" - 有红绿灯的车道数: {len(traffic_light_lanes)}")
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if len(traffic_light_lanes) > 0:
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print(f" 车道索引: {traffic_light_lanes[:5]}" +
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(f" ... 共{len(traffic_light_lanes)}个" if len(traffic_light_lanes) > 5 else ""))
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else:
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print(f" ⚠️ 场景中没有红绿灯！")
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# 在获取车道信息后，进行车道区域过滤
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total_cars_before = len(self.car_birth_info_list)
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valid_count, filtered_count, filtered_list = self._filter_valid_spawn_positions()
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# 输出过滤信息
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if filtered_count > 0:
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self.logger.warning(f"车辆生成位置过滤: 原始 {total_cars_before} 辆, "
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f"有效 {valid_count} 辆, 过滤 {filtered_count} 辆")
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for filtered_car in filtered_list[:5]: # 只显示前5个
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self.logger.debug(f" - 过滤车辆 ID={filtered_car['id']}, "
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f"位置={filtered_car['position']}, "
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f"原因={filtered_car['reason']}")
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if filtered_count > 5:
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self.logger.debug(f" - ... 还有 {filtered_count - 5} 辆车被过滤")
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# 限制最大车辆数（在过滤后应用）
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max_vehicles = self.config.get("max_controlled_vehicles", None)
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if max_vehicles is not None and len(self.car_birth_info_list) > max_vehicles:
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self.car_birth_info_list = self.car_birth_info_list[:max_vehicles]
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self.logger.info(f"限制最大车辆数为 {max_vehicles} 辆")
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self.logger.info(f"最终生成 {len(self.car_birth_info_list)} 辆可控车辆")
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if self.top_down_renderer is not None:
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self.top_down_renderer.clear()
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self.engine.top_down_renderer = None
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self.dones = {}
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self.episode_rewards = defaultdict(float)
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self.episode_lengths = defaultdict(int)
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# 调用父类reset会清理场景
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super().reset(seed) # 初始化场景
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# 重新生成车辆
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self._spawn_controlled_agents()
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return self._get_all_obs()
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def _is_position_on_lane(self, position, tolerance=None):
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"""
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检测给定位置是否在有效车道范围内
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Args:
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position: (x, y) 车辆位置坐标
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tolerance: 容差范围（米），用于放宽检测条件。None时使用配置中的默认值
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Returns:
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bool: True表示在车道上，False表示在非车道区域（如草坪、停车场等）
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"""
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if not hasattr(self, 'lanes') or self.lanes is None:
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if self.debug_lane_filter:
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print(f" ⚠️ 车道信息未初始化，默认允许")
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return True # 如果车道信息未初始化，默认允许生成
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if tolerance is None:
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tolerance = self.config.get("lane_tolerance", 3.0)
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position_2d = (position[0], position[1])
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if self.debug_lane_filter:
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print(f" 🔍 检测位置 ({position_2d[0]:.2f}, {position_2d[1]:.2f}), 容差={tolerance}m")
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# 方法1：直接检测是否在任一车道上
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checked_lanes = 0
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for lane in self.lanes.values():
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try:
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checked_lanes += 1
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if lane.lane.point_on_lane(position_2d):
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if self.debug_lane_filter:
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print(f" ✅ 在车道上 (车道{lane.lane.index}, 检查了{checked_lanes}条)")
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return True
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except:
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continue
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if self.debug_lane_filter:
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print(f" ❌ 不在任何车道上 (检查了{checked_lanes}条车道)")
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# 方法2：如果严格检测失败，使用容差范围检测（考虑车道边缘）
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# 注释：此方法已被禁用，如需启用请取消注释
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# if tolerance > 0:
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# for lane in self.lanes.values():
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# try:
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# # 计算点到车道中心线的距离
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# lane_obj = lane.lane
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# # 获取车道长度并检测最近点
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# s, lateral = lane_obj.local_coordinates(position_2d)
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# # 如果横向距离在容差范围内，认为是有效的
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# if abs(lateral) <= tolerance and 0 <= s <= lane_obj.length:
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# return True
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# except:
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# continue
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return False
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def _filter_valid_spawn_positions(self):
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"""
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过滤掉生成位置不在有效车道上的车辆信息
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根据配置决定是否执行过滤
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Returns:
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tuple: (有效车辆数量, 被过滤车辆数量, 被过滤车辆ID列表)
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"""
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# 如果配置中禁用了过滤，直接返回
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if not self.config.get("filter_offroad_vehicles", True):
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if self.debug_lane_filter:
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print(f"🚫 车道过滤已禁用")
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return len(self.car_birth_info_list), 0, []
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if self.debug_lane_filter:
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print(f"\n🔍 开始车道过滤: 共 {len(self.car_birth_info_list)} 辆车待检测")
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valid_cars = []
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filtered_cars = []
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tolerance = self.config.get("lane_tolerance", 3.0)
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for idx, car in enumerate(self.car_birth_info_list):
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if self.debug_lane_filter:
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print(f"\n车辆 {idx+1}/{len(self.car_birth_info_list)}: ID={car['id']}")
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if self._is_position_on_lane(car['begin'], tolerance=tolerance):
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valid_cars.append(car)
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if self.debug_lane_filter:
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print(f" ✅ 保留")
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else:
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filtered_cars.append({
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'id': car['id'],
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'position': car['begin'],
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'reason': '生成位置不在有效车道上（可能在草坪/停车场等区域）'
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})
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if self.debug_lane_filter:
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print(f" ❌ 过滤 (原因: 不在车道上)")
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self.car_birth_info_list = valid_cars
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if self.debug_lane_filter:
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print(f"\n📊 过滤结果: 保留 {len(valid_cars)} 辆, 过滤 {len(filtered_cars)} 辆")
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return len(valid_cars), len(filtered_cars), filtered_cars
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def _spawn_controlled_agents(self):
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# ego_vehicle = self.engine.agent_manager.active_agents.get("default_agent")
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# ego_position = ego_vehicle.position if ego_vehicle else np.array([0, 0])
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for car in self.car_birth_info_list:
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if car['show_time'] == self.round:
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agent_id = f"controlled_{car['id']}"
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vehicle = self.engine.spawn_object(
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PolicyVehicle,
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vehicle_config={},
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position=car['begin'],
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heading=car['heading']
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)
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vehicle.reset(position=car['begin'], heading=car['heading'])
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vehicle.set_policy(self.policy)
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vehicle.set_destination(car['end'])
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self.controlled_agents[agent_id] = vehicle
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self.controlled_agent_ids.append(agent_id)
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# ✅ 关键：注册到引擎的 active_agents，才能参与物理更新
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self.engine.agent_manager.active_agents[agent_id] = vehicle
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def before_reset(self):
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"""在reset之前清理对象"""
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# 清理所有可控车辆
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if hasattr(self, 'controlled_agents') and hasattr(self, 'engine'):
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# 使用MetaDrive的clear_objects方法清理
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if hasattr(self.engine, 'clear_objects'):
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try:
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self.engine.clear_objects(list(self.controlled_agents.keys()))
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except:
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pass
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# 从agent_manager中移除
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if hasattr(self.engine, 'agent_manager'):
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for agent_id in list(self.controlled_agents.keys()):
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if agent_id in self.engine.agent_manager.active_agents:
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self.engine.agent_manager.active_agents.pop(agent_id)
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self.controlled_agents.clear()
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self.controlled_agent_ids.clear()
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def _get_traffic_light_state(self, vehicle):
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"""
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获取车辆当前位置的红绿灯状态（优化版）
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解决问题：
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1. 部分红绿灯状态为None的问题 - 添加异常处理和默认值
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2. 车道分段导致无法获取红绿灯的问题 - 优先使用导航模块，失败时回退到遍历
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Returns:
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int: 0=无红绿灯, 1=绿灯, 2=黄灯, 3=红灯
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"""
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traffic_light = 0
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state = vehicle.get_state()
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position_2d = state['position'][:2]
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if self.debug_traffic_light:
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print(f"\n🚦 检测车辆红绿灯 - 位置: ({position_2d[0]:.1f}, {position_2d[1]:.1f})")
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try:
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# 方法1：优先尝试从车辆导航模块获取当前车道（更高效）
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if hasattr(vehicle, 'navigation') and vehicle.navigation is not None:
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current_lane = vehicle.navigation.current_lane
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if self.debug_traffic_light:
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print(f" 方法1-导航模块:")
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print(f" current_lane = {current_lane}")
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print(f" lane_index = {current_lane.index if current_lane else 'None'}")
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if current_lane:
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has_light = self.engine.light_manager.has_traffic_light(current_lane.index)
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if self.debug_traffic_light:
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print(f" has_traffic_light = {has_light}")
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if has_light:
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status = self.engine.light_manager._lane_index_to_obj[current_lane.index].status
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if self.debug_traffic_light:
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print(f" status = {status}")
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if status == 'TRAFFIC_LIGHT_GREEN':
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if self.debug_traffic_light:
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print(f" ✅ 方法1成功: 绿灯")
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return 1
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elif status == 'TRAFFIC_LIGHT_YELLOW':
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if self.debug_traffic_light:
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print(f" ✅ 方法1成功: 黄灯")
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return 2
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elif status == 'TRAFFIC_LIGHT_RED':
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if self.debug_traffic_light:
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print(f" ✅ 方法1成功: 红灯")
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return 3
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elif status is None:
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if self.debug_traffic_light:
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print(f" ⚠️ 方法1: 红绿灯状态为None")
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return 0
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else:
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if self.debug_traffic_light:
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print(f" 该车道没有红绿灯")
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else:
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if self.debug_traffic_light:
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print(f" 导航模块current_lane为None")
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else:
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if self.debug_traffic_light:
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has_nav = hasattr(vehicle, 'navigation')
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nav_not_none = vehicle.navigation is not None if has_nav else False
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print(f" 方法1-导航模块: 不可用 (hasattr={has_nav}, not_none={nav_not_none})")
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except Exception as e:
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if self.debug_traffic_light:
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print(f" ❌ 方法1异常: {type(e).__name__}: {e}")
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pass
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try:
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# 方法2：遍历所有车道查找（兜底方案，处理车道分段问题）
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if self.debug_traffic_light:
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print(f" 方法2-遍历车道: 开始遍历 {len(self.lanes)} 条车道")
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found_lane = False
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checked_lanes = 0
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for lane in self.lanes.values():
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try:
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checked_lanes += 1
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if lane.lane.point_on_lane(position_2d):
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found_lane = True
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if self.debug_traffic_light:
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print(f" ✓ 找到车辆所在车道: {lane.lane.index} (检查了{checked_lanes}条)")
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has_light = self.engine.light_manager.has_traffic_light(lane.lane.index)
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if self.debug_traffic_light:
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print(f" has_traffic_light = {has_light}")
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if has_light:
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status = self.engine.light_manager._lane_index_to_obj[lane.lane.index].status
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if self.debug_traffic_light:
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print(f" status = {status}")
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if status == 'TRAFFIC_LIGHT_GREEN':
|
||
if self.debug_traffic_light:
|
||
print(f" ✅ 方法2成功: 绿灯")
|
||
return 1
|
||
elif status == 'TRAFFIC_LIGHT_YELLOW':
|
||
if self.debug_traffic_light:
|
||
print(f" ✅ 方法2成功: 黄灯")
|
||
return 2
|
||
elif status == 'TRAFFIC_LIGHT_RED':
|
||
if self.debug_traffic_light:
|
||
print(f" ✅ 方法2成功: 红灯")
|
||
return 3
|
||
elif status is None:
|
||
if self.debug_traffic_light:
|
||
print(f" ⚠️ 方法2: 红绿灯状态为None")
|
||
return 0
|
||
else:
|
||
if self.debug_traffic_light:
|
||
print(f" 该车道没有红绿灯")
|
||
break
|
||
except:
|
||
continue
|
||
|
||
if self.debug_traffic_light and not found_lane:
|
||
print(f" ⚠️ 未找到车辆所在车道 (检查了{checked_lanes}条)")
|
||
|
||
except Exception as e:
|
||
if self.debug_traffic_light:
|
||
print(f" ❌ 方法2异常: {type(e).__name__}: {e}")
|
||
pass
|
||
|
||
if self.debug_traffic_light:
|
||
print(f" 结果: 返回 {traffic_light} (无红绿灯/未知)")
|
||
|
||
return traffic_light
|
||
|
||
def _get_all_obs(self):
|
||
# position, velocity, heading, lidar, navigation, TODO: trafficlight -> list
|
||
self.obs_list = []
|
||
for agent_id, vehicle in self.controlled_agents.items():
|
||
state = vehicle.get_state()
|
||
|
||
# 使用优化后的红绿灯检测方法
|
||
traffic_light = self._get_traffic_light_state(vehicle)
|
||
|
||
lidar = self.engine.get_sensor("lidar").perceive(num_lasers=80, distance=30, base_vehicle=vehicle,
|
||
physics_world=self.engine.physics_world.dynamic_world)
|
||
side_lidar = self.engine.get_sensor("side_detector").perceive(num_lasers=10, distance=8,
|
||
base_vehicle=vehicle,
|
||
physics_world=self.engine.physics_world.static_world)
|
||
lane_line_lidar = self.engine.get_sensor("lane_line_detector").perceive(num_lasers=10, distance=3,
|
||
base_vehicle=vehicle,
|
||
physics_world=self.engine.physics_world.static_world)
|
||
|
||
obs = (state['position'][:2] + list(state['velocity']) + [state['heading_theta']]
|
||
+ lidar[0] + side_lidar[0] + lane_line_lidar[0] + [traffic_light]
|
||
+ list(vehicle.destination))
|
||
self.obs_list.append(obs)
|
||
return self.obs_list
|
||
|
||
def step(self, action_dict: Dict[AnyStr, Union[list, np.ndarray]]):
|
||
self.round += 1
|
||
|
||
for agent_id, action in action_dict.items():
|
||
if agent_id in self.controlled_agents:
|
||
self.controlled_agents[agent_id].before_step(action)
|
||
|
||
self.engine.step()
|
||
|
||
for agent_id in action_dict:
|
||
if agent_id in self.controlled_agents:
|
||
self.controlled_agents[agent_id].after_step()
|
||
|
||
self._spawn_controlled_agents()
|
||
obs = self._get_all_obs()
|
||
rewards = {aid: 0.0 for aid in self.controlled_agents}
|
||
dones = {aid: False for aid in self.controlled_agents}
|
||
dones["__all__"] = self.episode_step >= self.config["horizon"]
|
||
infos = {aid: {} for aid in self.controlled_agents}
|
||
return obs, rewards, dones, infos
|