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