61 lines
1.7 KiB
Python
61 lines
1.7 KiB
Python
from scenario_env import MultiAgentScenarioEnv
|
||
from simple_idm_policy import ConstantVelocityPolicy
|
||
from metadrive.engine.asset_loader import AssetLoader
|
||
import time
|
||
|
||
WAYMO_DATA_DIR = r"/home/huangfukk/MAGAIL4AutoDrive/Env"
|
||
|
||
def main():
|
||
"""带可视化的版本（低FPS，约15帧）"""
|
||
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,
|
||
|
||
# 可视化设置（牺牲性能）
|
||
"use_render": True,
|
||
"manual_control": False,
|
||
|
||
"sequential_seed": True,
|
||
"reactive_traffic": True,
|
||
},
|
||
agent2policy=ConstantVelocityPolicy(target_speed=50)
|
||
)
|
||
|
||
obs = env.reset(0)
|
||
|
||
start_time = time.time()
|
||
total_steps = 0
|
||
|
||
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)
|
||
env.render(mode="topdown") # 实时渲染
|
||
|
||
total_steps += 1
|
||
|
||
if step % 100 == 0 and step > 0:
|
||
elapsed = time.time() - start_time
|
||
fps = total_steps / elapsed
|
||
print(f"Step {step}: FPS = {fps:.2f}, 车辆数 = {len(env.controlled_agents)}")
|
||
|
||
if dones["__all__"]:
|
||
break
|
||
|
||
elapsed = time.time() - start_time
|
||
fps = total_steps / elapsed
|
||
print(f"\n总计: {total_steps} 步，耗时 {elapsed:.2f}s，平均FPS = {fps:.2f}")
|
||
|
||
env.close()
|
||
|
||
|
||
if __name__ == "__main__":
|
||
main()
|
||
|