diff --git a/src/self_driving_car_navigation/carla_environment.py b/src/self_driving_car_navigation/carla_environment.py
index c8d46fd14c..5d6cc466b4 100644
--- a/src/self_driving_car_navigation/carla_environment.py
+++ b/src/self_driving_car_navigation/carla_environment.py
@@ -220,8 +220,13 @@ def _clear_all_non_ego_actors(self):
         print(f"[清理] 车辆{cleared_count['vehicle']} | 自行车{cleared_count['bicycle']} | 静态车辆{cleared_count['static_vehicle']}")
 
     def process_image(self, image):
-        """处理摄像头数据"""
+        """处理摄像头数据 - 修复frame属性访问问题"""
         try:
+            # 检查是否为有效的图像对象
+            if not hasattr(image, 'raw_data') or not hasattr(image, 'height') or not hasattr(image, 'width'):
+                print("[图像处理错误] 无效的图像数据")
+                return
+                
             array = np.frombuffer(image.raw_data, dtype=np.uint8).reshape((image.height, image.width, 4))[:, :, :3]
             array = array[:, :, ::-1].copy()
             if self.image_queue.full():
@@ -231,8 +236,13 @@ def process_image(self, image):
             print(f"[图像处理错误] {str(e)}")
 
     def process_lidar(self, data):
-        """处理激光雷达数据"""
+        """处理激光雷达数据 - 修复frame属性访问问题"""
         try:
+            # 检查是否为有效的激光雷达数据
+            if not hasattr(data, 'raw_data'):
+                print("[激光雷达处理错误] 无效的激光雷达数据")
+                return
+                
             points = np.frombuffer(data.raw_data, dtype=np.dtype('f4')).reshape(-1, 4)[:, :3]
             distances = np.linalg.norm(points, axis=1)
             angles = np.arctan2(points[:, 1], points[:, 0]) * 180 / np.pi
@@ -251,8 +261,13 @@ def process_lidar(self, data):
             print(f"[激光雷达处理错误] {str(e)}")
 
     def process_imu(self, data):
-        """处理IMU数据"""
+        """处理IMU数据 - 修复frame属性访问问题"""
         try:
+            # 检查是否为有效的IMU数据
+            if not hasattr(data, 'accelerometer') or not hasattr(data, 'gyroscope'):
+                print("[IMU处理错误] 无效的IMU数据")
+                return
+                
             imu_data = np.array([
                 data.accelerometer.x, data.accelerometer.y, data.accelerometer.z,
                 data.gyroscope.x, data.gyroscope.y, data.gyroscope.z
diff --git a/src/self_driving_car_navigation/run_simulation.py b/src/self_driving_car_navigation/run_simulation.py
index 36ad14e01c..312538d685 100644
--- a/src/self_driving_car_navigation/run_simulation.py
+++ b/src/self_driving_car_navigation/run_simulation.py
@@ -3,8 +3,13 @@
 import sys
 import pygame
 import carla
+import os
+import sys
+
+# 添加当前目录到Python路径，确保可以导入_agent模块
+sys.path.append(os.path.dirname(os.path.abspath(__file__)))
 
-# 修正导入路径：适配_agent子目录下的carla_environment.py
+# 从_agent子目录导入CarlaEnvironment
 from _agent.carla_environment import CarlaEnvironment
 
 print("="*60)
@@ -46,6 +51,9 @@ def lerp(a, b, t):
     return smooth_tf
 
 def run_simulation():
+    # 初始化pygame
+    pygame.init()
+    
     env = None
     try:
         print("\n[CARLA连接] 创建环境...")
@@ -71,6 +79,11 @@ def run_simulation():
         # 持续运行仿真（不限制步数）
         step = 0
         while True:
+            # 处理pygame事件
+            for event in pygame.event.get():
+                if event.type == pygame.QUIT:
+                    raise KeyboardInterrupt
+            
             # 同步CARLA帧（关键优化：保证控制时序稳定）
             env.world.tick()
             
@@ -100,6 +113,8 @@ def run_simulation():
         if env is not None:
             print("\n[资源清理] 销毁资源...")
             env.close()
+        # 退出pygame
+        pygame.quit()
         print("\n[程序退出]")
 
 if __name__ == "__main__":