新增了红绿灯检测机制，优化了奖励机制#3206
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越过停止线就视为闯红灯 |
donghaiwang
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Dec 15, 2025
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1.新增了红绿灯检测
检测方式为：首先遍历地图中所有交通灯 Actor（通过self.world.get_actors().filter('traffic.traffic_light')获取），仅筛选出车辆 10 米范围内的红绿灯（可通过traffic_light_trigger_distance调整），过滤远距离灯以减少无效计算，确保只检测车辆周边的有效红绿灯。
奖惩逻辑：将红绿灯的奖惩冷却时间设置为十秒，避免车速过慢时重复扣分，单次闯红灯 / 绿灯合规行为仅触发 1 次判定，10 秒内即使车辆仍处于红绿灯范围内，也不会重复判定,闯红灯扣10分，正确通过绿灯加五分。
2025-12-15.085127.mp4