diff --git a/src/self_driving_car_navigation/run_carla.py b/src/self_driving_car_navigation/run_carla.py index b82673b995..e4bd574926 100644 --- a/src/self_driving_car_navigation/run_carla.py +++ b/src/self_driving_car_navigation/run_carla.py @@ -11,7 +11,7 @@ from collections import deque import math -# ========== 原有CarlaEnvironment类保持不变 ========== +# ========== 原有CarlaEnvironment类（重点修改视角平滑逻辑） ========== class CarlaEnvironment(gym.Env): def __init__(self): super(CarlaEnvironment, self).__init__() @@ -34,8 +34,17 @@ def __init__(self): self.image_queue = Queue(maxsize=1) self.lidar_queue = Queue(maxsize=1) self.imu_queue = Queue(maxsize=1) - # 新增：保存原始激光雷达点云数据（用于3D可视化） + # 激光雷达3D点云专用队列 self.raw_lidar_queue = Queue(maxsize=1) + # 新增：当前视角模式（默认第三人称） + self.current_view_mode = "third_person" # first_person / third_person / bird_view + + # ========== 新增：视角平滑相关变量（解决抖动核心） ========== + self.smooth_pos = None # 平滑后的位置缓存 + self.smooth_rot = None # 平滑后的旋转缓存 + self.pos_smooth_factor = 0.05 # 位置平滑系数（0.05~0.2，越小越平滑） + self.rot_smooth_factor = 0.08 # 旋转平滑系数（比位置更平滑） + self.view_switch_flag = False # 视角切换标记（切换时跳过平滑） # 连接CARLA（强化严格同步模式） self._connect_carla() @@ -191,7 +200,7 @@ 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（新增：保存原始点云用于3D可视化）""" + """处理激光雷达数据（保留原始点云用于3D可视化）""" try: if not hasattr(data, 'raw_data'): print("[激光雷达处理错误] 无效的激光雷达数据") @@ -254,6 +263,11 @@ def reset(self): self.vehicle.set_autopilot(True, self.tm_port) self._spawn_npcs(60) self._clear_all_non_ego_actors() + # 重置视角模式和平滑缓存 + self.current_view_mode = "third_person" + self.smooth_pos = None + self.smooth_rot = None + self.view_switch_flag = False # 多次同步，物理稳定（延长时间） for _ in range(15): @@ -356,13 +370,16 @@ def _spawn_sensors(self): for sensor in [self.camera, self.lidar, self.imu]: self._safe_destroy_actor(sensor) - # 摄像头 + # 摄像头（适配第一人称视角：调整安装位置） camera_bp = self.blueprint_library.find('sensor.camera.rgb') camera_bp.set_attribute('image_size_x', '128') camera_bp.set_attribute('image_size_y', '128') camera_bp.set_attribute('fov', '100') + # 第一人称视角摄像头（驾驶位） self.camera = self.world.spawn_actor( - camera_bp, carla.Transform(carla.Location(x=2.0, z=1.5)), attach_to=self.vehicle + camera_bp, carla.Transform(carla.Location(x=1.0, y=0.0, z=1.2), carla.Rotation(pitch=0, yaw=0, roll=0)), + attach_to=self.vehicle, + attachment_type=carla.AttachmentType.Rigid ) self.camera.listen(self.process_image) @@ -464,114 +481,69 @@ def close(self): print(f"[世界设置恢复警告] {str(e)}") print("[资源清理] 所有资源已销毁") - def init_spectator_smoother(self, window_size=15): - """初始化镜头平滑器（增大滑动窗口到15帧）""" - self.vehicle_pose_buffer = deque(maxlen=window_size) # 15帧缓存，过滤更多高频抖动 - self.window_size = window_size - # 初始化加权平均权重（近期帧权重更高，兼顾平滑和响应） - self.weights = np.linspace(0.1, 1.0, window_size) # 权重从0.1→1.0递增 - self.weights /= np.sum(self.weights) # 归一化 - - def update_spectator_ultra_smooth(self, spectator): - """ - 终极平滑镜头更新：加权滑动平均+微米级死区+完全锁定旋转 - """ + # ========== 核心修改：视角切换+平滑跟随（解决抖动） ========== + def switch_view_mode(self, mode): + """切换视角模式（添加切换标记，跳过初始平滑）""" + if mode in ["first_person", "third_person", "bird_view"]: + self.current_view_mode = mode + self.view_switch_flag = True # 切换时强制重置平滑缓存 + print(f"[视角切换] 已切换至：{self.current_view_mode}") + + def _smooth_transform(self, target_loc, target_rot): + """对位置和旋转进行指数移动平均平滑（核心防抖逻辑）""" + # 首次初始化平滑缓存 + if self.smooth_pos is None or self.view_switch_flag: + self.smooth_pos = target_loc + self.smooth_rot = target_rot + self.view_switch_flag = False # 重置切换标记 + return self.smooth_pos, self.smooth_rot + + # 位置平滑（指数移动平均） + self.smooth_pos.x = self.smooth_pos.x * (1 - self.pos_smooth_factor) + target_loc.x * self.pos_smooth_factor + self.smooth_pos.y = self.smooth_pos.y * (1 - self.pos_smooth_factor) + target_loc.y * self.pos_smooth_factor + self.smooth_pos.z = self.smooth_pos.z * (1 - self.pos_smooth_factor) + target_loc.z * self.pos_smooth_factor + + # 旋转平滑（指数移动平均，仅yaw角跟随，pitch/roll固定） + self.smooth_rot.yaw = self.smooth_rot.yaw * (1 - self.rot_smooth_factor) + target_rot.yaw * self.rot_smooth_factor + self.smooth_rot.pitch = target_rot.pitch # 俯仰角固定，不平滑 + self.smooth_rot.roll = target_rot.roll # 滚转角固定，不平滑 + + return self.smooth_pos, self.smooth_rot + + def update_view(self, spectator): + """根据当前视角模式更新 spectator 位置（添加平滑防抖）""" if not self._is_actor_alive(self.vehicle): return - # 1. 获取同步帧快照的车辆位姿（仅用快照，杜绝异步） - snapshot = self.world.get_snapshot() - vehicle_snapshot = snapshot.find(self.vehicle.id) - if not vehicle_snapshot: - return - current_pose = vehicle_snapshot.get_transform() - - # 2. 初始化关键变量 - avg_yaw = current_pose.rotation.yaw - avg_pose = current_pose - - # 3. 加入滑动缓存并计算「加权平均」位姿（核心优化） - self.vehicle_pose_buffer.append(current_pose) - if len(self.vehicle_pose_buffer) >= self.window_size: - # 提取缓存中的位姿 - poses = list(self.vehicle_pose_buffer) - count = len(poses) - - # 加权平均位置（近期帧权重更高） - avg_loc = carla.Location() - for i in range(count): - weight = self.weights[i] - avg_loc.x += poses[i].location.x * weight - avg_loc.y += poses[i].location.y * weight - avg_loc.z += poses[i].location.z * weight # Z轴也加权平均 - - # 加权平均Yaw角（处理360度环绕） - yaws = [pose.rotation.yaw for pose in poses] - yaw_rads = np.radians(yaws) - # 加权正弦和余弦 - weighted_sin = np.sum(np.sin(yaw_rads) * self.weights[:count]) - weighted_cos = np.sum(np.cos(yaw_rads) * self.weights[:count]) - avg_yaw = np.degrees(np.arctan2(weighted_sin, weighted_cos)) - - # 构建平均位姿 - avg_pose = carla.Transform(avg_loc, carla.Rotation(pitch=0, yaw=avg_yaw, roll=0)) - - # 4. 模拟父级绑定+Z轴强制锁定 - relative_loc = carla.Location(x=-5.0, y=0.0, z=2.0) - target_loc = avg_pose.transform(relative_loc) - target_loc.z = avg_pose.location.z + 2.0 # 强制锁定Z轴，不随任何波动 - - # 5. 镜头旋转：完全锁定（仅Yaw跟随平均位姿） - target_rot = carla.Rotation( - pitch=-10.0, # 完全固定，不参与任何平滑 - yaw=avg_yaw, - roll=0.0 # 完全固定 - ) - - # 6. EMA平滑+微米级死区过滤（终极去抖） - current_transform = spectator.get_transform() - alpha = 0.03 # 极致平滑系数（更小，更稳定） - pos_deadzone = 0.005 # 微米级死区（5mm内波动不更新） - - # 位置平滑（带死区） - loc_diff = np.array([ - target_loc.x - current_transform.location.x, - target_loc.y - current_transform.location.y, - target_loc.z - current_transform.location.z - ]) - loc_diff_mag = np.linalg.norm(loc_diff) - - if loc_diff_mag > pos_deadzone: - final_loc = carla.Location( - x=alpha * target_loc.x + (1 - alpha) * current_transform.location.x, - y=alpha * target_loc.y + (1 - alpha) * current_transform.location.y, - z=target_loc.z # Z轴直接锁定 - ) - else: - # 死区内不更新，保持当前位置 - final_loc = current_transform.location - - # 旋转平滑（仅Yaw，带死区） - yaw_diff = target_rot.yaw - current_transform.rotation.yaw - yaw_diff = (yaw_diff + 180) % 360 - 180 # 归一化 - rot_deadzone = 0.02 # 0.02度死区 - - if abs(yaw_diff) > rot_deadzone: - final_yaw = current_transform.rotation.yaw + alpha * yaw_diff - final_yaw = final_yaw % 360 + vehicle_transform = self.vehicle.get_transform() + vehicle_location = vehicle_transform.location + vehicle_rotation = vehicle_transform.rotation + + # 计算目标视角位置和旋转 + if self.current_view_mode == "first_person": + # 第一人称视角：驾驶位，向前看 + target_loc = vehicle_transform.transform(carla.Location(x=0.5, y=0.0, z=1.0)) + target_rot = vehicle_rotation + elif self.current_view_mode == "third_person": + # 第三人称视角：车辆后上方，平滑跟随 + target_loc = vehicle_transform.transform(carla.Location(x=-5.0, y=0.0, z=2.0)) + target_rot = carla.Rotation(pitch=-10.0, yaw=vehicle_rotation.yaw, roll=0.0) + elif self.current_view_mode == "bird_view": + # 鸟瞰视角：车辆正上方，全局俯视 + target_loc = carla.Location(vehicle_location.x, vehicle_location.y, vehicle_location.z + 50.0) + target_rot = carla.Rotation(pitch=-90.0, yaw=vehicle_rotation.yaw, roll=0.0) else: - final_yaw = current_transform.rotation.yaw + # 默认第三人称 + target_loc = vehicle_transform.transform(carla.Location(x=-5.0, y=0.0, z=2.0)) + target_rot = carla.Rotation(pitch=-10.0, yaw=vehicle_rotation.yaw, roll=0.0) - final_rot = carla.Rotation( - pitch=-10.0, # 完全固定 - yaw=final_yaw, - roll=0.0 # 完全固定 - ) + # 对目标视角进行平滑处理（核心防抖） + smooth_loc, smooth_rot = self._smooth_transform(target_loc, target_rot) - # 7. 更新镜头（仅一次，同步帧内完成） - spectator.set_transform(carla.Transform(final_loc, final_rot)) + # 更新 spectator（使用平滑后的位置和旋转） + spectator.set_transform(carla.Transform(smooth_loc, smooth_rot)) -# ========== 新增：3D点云可视化核心逻辑 ========== +# ========== 激光雷达3D点云可视化窗口（保留，单独运行） ========== class Lidar3DVisualizer: def __init__(self, width=600, height=600): # 窗口参数 @@ -587,7 +559,7 @@ def __init__(self, width=600, height=600): self.offset_x = width // 2 self.offset_y = height // 2 - # 交互状态 + # 交互状态（即使暂未生效，保留逻辑） self.mouse_down = False self.last_mouse_pos = (0, 0) self.point_size = 2 # 点云渲染大小 @@ -600,13 +572,7 @@ def __init__(self, width=600, height=600): } def project_3d_to_2d(self, point): - """ - 透视投影：将3D点(x,y,z)转换为2D屏幕坐标 - 核心算法： - 1. 绕Y轴旋转（水平视角） - 2. 绕X轴旋转（垂直视角） - 3. 透视缩放+屏幕偏移 - """ + """透视投影：将3D点(x,y,z)转换为2D屏幕坐标""" x, y, z = point # 绕Y轴旋转（theta） @@ -664,9 +630,9 @@ def render(self, raw_points): pygame.draw.circle(self.screen, color, (screen_x, screen_y), self.point_size) # 4. 绘制辅助信息（坐标系、说明文字） - font = pygame.font.SysFont('Consolas', 12) + font = pygame.font.SysFont('Consolas', 12, bold=True) # 坐标系提示 - axis_text = font.render("X:前 Y:左 Z:上 | 鼠标拖拽旋转 | 滚轮缩放", True, (200, 200, 200)) + axis_text = font.render("X:前 Y:左 Z:上 | 激光雷达有效范围：0.5-50m", True, (200, 200, 200)) self.screen.blit(axis_text, (10, 10)) # 距离说明 dist_text = font.render("红色:<10m 黄色:10-30m 绿色:>30m", True, (200, 200, 200)) @@ -676,7 +642,7 @@ def render(self, raw_points): pygame.display.flip() def handle_events(self): - """处理鼠标交互""" + """处理鼠标交互（保留逻辑，即使暂未生效）""" for event in pygame.event.get(): # 鼠标按下 if event.type == pygame.MOUSEBUTTONDOWN: @@ -701,20 +667,205 @@ def handle_events(self): self.phi += dy * 0.01 self.last_mouse_pos = current_pos -# ========== 修改后的仿真运行函数 ========== +# ========== 主可视化界面（3D视角增强+清晰交互） ========== +class MainVisualizer: + def __init__(self, width=800, height=600): + # 窗口基础配置 + self.width = width + self.height = height + self.screen = pygame.display.set_mode((width, height), pygame.DOUBLEBUF | pygame.HWSURFACE) + pygame.display.set_caption("CARLA自动驾驶仿真 - 3D视角控制") + + # 字体配置（确保显示清晰，抗锯齿） + self.font_large = pygame.font.SysFont('Microsoft YaHei', 16, bold=True) + self.font_small = pygame.font.SysFont('Microsoft YaHei', 12, bold=True) + + # 颜色配置（工业风，高对比度，显示清晰） + self.colors = { + 'bg_main': (18, 18, 28), # 主背景（深蓝灰） + 'bg_panel': (30, 30, 45), # 面板背景（深紫灰） + 'text_normal': (220, 220, 240),# 普通文字（浅灰蓝） + 'text_highlight': (0, 180, 255),# 高亮文字（天蓝色） + 'button_normal': (45, 45, 65), # 按钮常态 + 'button_hover': (60, 60, 85), # 按钮悬停 + 'button_press': (0, 120, 180), # 按钮按下 + 'border': (80, 80, 100) # 边框颜色 + } + + # 交互按钮配置（位置+大小+文本） + self.buttons = { + 'first_person': { + 'rect': pygame.Rect(20, 500, 120, 40), + 'text': '第一人称 (1)', + 'active': False + }, + 'third_person': { + 'rect': pygame.Rect(150, 500, 120, 40), + 'text': '第三人称 (2)', + 'active': True # 默认激活 + }, + 'bird_view': { + 'rect': pygame.Rect(280, 500, 120, 40), + 'text': '鸟瞰视角 (3)', + 'active': False + }, + 'pause': { + 'rect': pygame.Rect(410, 500, 120, 40), + 'text': '暂停 (空格)', + 'active': False + } + } + + # 状态变量 + self.paused = False + self.fps = 0 + self.npc_count = 0 + self.obstacle_distances = {'front': 0, 'rear': 0, 'left': 0, 'right': 0} + self.current_view = "第三人称" + + def draw_buttons(self): + """绘制交互按钮（清晰易识别，有状态反馈）""" + for btn_name, btn in self.buttons.items(): + # 确定按钮颜色（根据状态） + if btn['active']: + bg_color = self.colors['button_press'] + elif btn['rect'].collidepoint(pygame.mouse.get_pos()): + bg_color = self.colors['button_hover'] + else: + bg_color = self.colors['button_normal'] + + # 绘制按钮（带边框，清晰） + pygame.draw.rect(self.screen, bg_color, btn['rect'], border_radius=5) + pygame.draw.rect(self.screen, self.colors['border'], btn['rect'], width=2, border_radius=5) + + # 绘制按钮文字（居中，抗锯齿） + text_surf = self.font_small.render(btn['text'], True, self.colors['text_normal']) + text_rect = text_surf.get_rect(center=btn['rect'].center) + self.screen.blit(text_surf, text_rect) + + def draw_status_panel(self): + """绘制状态面板（信息清晰，分区显示）""" + # 面板背景 + panel_rect = pygame.Rect(20, 20, 300, 150) + pygame.draw.rect(self.screen, self.colors['bg_panel'], panel_rect, border_radius=5) + pygame.draw.rect(self.screen, self.colors['border'], panel_rect, width=2, border_radius=5) + + # 面板标题 + title_surf = self.font_large.render("仿真状态信息", True, self.colors['text_highlight']) + self.screen.blit(title_surf, (30, 30)) + + # 状态文本（分行显示，对齐） + status_texts = [ + f"当前视角：{self.current_view}", + f"仿真帧率：{self.fps:.1f} FPS", + f"NPC车辆数：{self.npc_count} 辆", + f"前方障碍物：{self.obstacle_distances['front']:.1f} m", + f"右侧障碍物：{self.obstacle_distances['right']:.1f} m" + ] + + for i, text in enumerate(status_texts): + y_pos = 60 + i * 20 + text_surf = self.font_small.render(text, True, self.colors['text_normal']) + self.screen.blit(text_surf, (30, y_pos)) + + def draw_help_text(self): + """绘制操作提示（清晰易读）""" + help_texts = [ + "快捷键：1-第一人称 2-第三人称 3-鸟瞰视角 空格-暂停/继续 ESC-退出", + "视角说明：第一人称（驾驶位）| 第三人称（跟随）| 鸟瞰（全局俯视）" + ] + for i, text in enumerate(help_texts): + y_pos = 450 + i * 20 + text_surf = self.font_small.render(text, True, self.colors['text_normal']) + self.screen.blit(text_surf, (20, y_pos)) + + def update_status(self, fps, npc_count, obstacle_distances, current_view): + """更新状态信息（用于渲染）""" + self.fps = fps + self.npc_count = npc_count + self.obstacle_distances = obstacle_distances + self.current_view = current_view + + # 更新按钮激活状态 + for btn_name in self.buttons: + self.buttons[btn_name]['active'] = False + if current_view == "第一人称": + self.buttons['first_person']['active'] = True + elif current_view == "第三人称": + self.buttons['third_person']['active'] = True + elif current_view == "鸟瞰视角": + self.buttons['bird_view']['active'] = True + self.buttons['pause']['active'] = self.paused + + def handle_events(self, env): + """处理交互事件（快捷键+按钮点击）""" + for event in pygame.event.get(): + # 窗口关闭 + if event.type == pygame.QUIT: + raise KeyboardInterrupt + # 键盘按键 + elif event.type == pygame.KEYDOWN: + if event.key == pygame.K_ESCAPE: + raise KeyboardInterrupt + elif event.key == pygame.K_1: + env.switch_view_mode("first_person") + self.current_view = "第一人称" + elif event.key == pygame.K_2: + env.switch_view_mode("third_person") + self.current_view = "第三人称" + elif event.key == pygame.K_3: + env.switch_view_mode("bird_view") + self.current_view = "鸟瞰视角" + elif event.key == pygame.K_SPACE: + self.paused = not self.paused + # 鼠标点击按钮 + elif event.type == pygame.MOUSEBUTTONDOWN: + if event.button == 1: + mouse_pos = pygame.mouse.get_pos() + if self.buttons['first_person']['rect'].collidepoint(mouse_pos): + env.switch_view_mode("first_person") + self.current_view = "第一人称" + elif self.buttons['third_person']['rect'].collidepoint(mouse_pos): + env.switch_view_mode("third_person") + self.current_view = "第三人称" + elif self.buttons['bird_view']['rect'].collidepoint(mouse_pos): + env.switch_view_mode("bird_view") + self.current_view = "鸟瞰视角" + elif self.buttons['pause']['rect'].collidepoint(mouse_pos): + self.paused = not self.paused + + def render(self): + """渲染主界面（所有元素）""" + # 清空主背景 + self.screen.fill(self.colors['bg_main']) + + # 绘制状态面板 + self.draw_status_panel() + + # 绘制操作提示 + self.draw_help_text() + + # 绘制交互按钮 + self.draw_buttons() + + # 更新显示（双缓冲，无撕裂） + pygame.display.flip() + +# ========== 仿真运行函数 ========== def run_simulation(): pygame.init() - # 初始化字体（避免中文/特殊字符乱码） + # 初始化字体（确保中文显示清晰，抗锯齿） pygame.font.init() + # 禁用pygame默认鼠标缩放，避免干扰 + pygame.mouse.set_cursor(pygame.SYSTEM_CURSOR_ARROW) + env = None lidar_visualizer = None + main_visualizer = None try: print("\n[CARLA连接] 创建环境...") env = CarlaEnvironment() - # 初始化镜头平滑器（15帧加权滑动窗口） - env.init_spectator_smoother(window_size=15) - print("\n[环境重置] 生成车辆和传感器...") env.reset() @@ -722,57 +873,68 @@ def run_simulation(): raise RuntimeError("车辆生成失败，请检查CARLA是否正常运行") print(f"[车辆状态] 生成成功（ID: {env.vehicle.id}），已启用自动驾驶") - # 初始化3D点云可视化器 + # 初始化两个可视化窗口 lidar_visualizer = Lidar3DVisualizer(width=600, height=600) + main_visualizer = MainVisualizer(width=800, height=600) clock = pygame.time.Clock() spectator = env.world.get_spectator() - # 初始化镜头+填充缓存（延长初始化时间） - env.world.tick() - for _ in range(env.window_size * 2): # 填充2倍窗口，确保加权平均生效 - env.update_spectator_ultra_smooth(spectator) - env.world.tick() + # 初始化视角（强制一次平滑缓存） + env.update_view(spectator) - print("\n[仿真开始] 车辆将沿车道行驶，按Ctrl+C退出...") - print("[点云可视化] 窗口已启动 - 鼠标拖拽旋转视角 | 滚轮缩放 | 颜色编码距离") + print("\n[仿真开始] 按ESC退出 | 快捷键1/2/3切换视角 | 空格暂停") + print("[窗口说明] 主窗口（视角控制）| 独立窗口（激光雷达3D点云）") sys.stdout.flush() step = 0 obstacle_distances = {'front': 0, 'rear': 0, 'left': 0, 'right': 0} while True: - # 1. 处理所有事件（主窗口+点云窗口） - for event in pygame.event.get(): - if event.type == pygame.QUIT: - raise KeyboardInterrupt - # 点云窗口交互 - if lidar_visualizer: - lidar_visualizer.handle_events() + # 1. 处理所有交互事件 + main_visualizer.handle_events(env) + lidar_visualizer.handle_events() - # 2. 严格同步的仿真帧推进 - env.world.tick() - - # 3. 终极平滑的镜头更新 - env.update_spectator_ultra_smooth(spectator) - - # 4. 渲染3D点云（每帧更新，保证实时性） - raw_lidar_points = env.get_raw_lidar_points() - lidar_visualizer.render(raw_lidar_points) - - # 5. 极低频率获取观测（减少性能消耗） - if step % 3 == 0: - observation = env.get_observation() - obstacle_distances = env.get_obstacle_directions(observation['lidar_distances']) + # 2. 暂停逻辑 + if not main_visualizer.paused: + # 严格同步的仿真帧推进 + env.world.tick() + + # 更新CARLA spectator视角（带平滑防抖） + env.update_view(spectator) + + # 获取观测数据（低频率，减少消耗） + if step % 3 == 0: + observation = env.get_observation() + obstacle_distances = env.get_obstacle_directions(observation['lidar_distances']) + # 渲染激光雷达3D点云 + raw_lidar_points = env.get_raw_lidar_points() + lidar_visualizer.render(raw_lidar_points) + + # 打印日志（极低频率） + if step % 120 == 0: + print(f"\n[步骤 {step}] 障碍物距离 - 前{obstacle_distances['front']:.1f}m | 后{obstacle_distances['rear']:.1f}m | " + f"左{obstacle_distances['left']:.1f}m | 右{obstacle_distances['right']:.1f}m") + sys.stdout.flush() + + step += 1 - # 6. 极低频率打印（每2秒打印一次，减少IO抖动） - if step % 120 == 0: - print(f"\n[步骤 {step}] 障碍物距离 - 前{obstacle_distances['front']:.1f}m | 后{obstacle_distances['rear']:.1f}m | " - f"左{obstacle_distances['left']:.1f}m | 右{obstacle_distances['right']:.1f}m") - sys.stdout.flush() + # 3. 更新主界面状态并渲染 + current_fps = clock.get_fps() + current_view_name = { + "first_person": "第一人称", + "third_person": "第三人称", + "bird_view": "鸟瞰视角" + }.get(env.current_view_mode, "第三人称") + main_visualizer.update_status( + fps=current_fps, + npc_count=len(env.npc_vehicles), + obstacle_distances=obstacle_distances, + current_view=current_view_name + ) + main_visualizer.render() - # 7. 锁定渲染帧率（与仿真帧率一致，避免波动） - clock.tick_busy_loop(60) # 更精准的帧率锁定 - step += 1 + # 4. 锁定渲染帧率（与仿真帧率一致） + clock.tick_busy_loop(60) except KeyboardInterrupt: print("\n[用户终止] 收到退出信号") @@ -792,6 +954,7 @@ def run_simulation(): print("="*60) print(f"[启动时间] {time.strftime('%Y-%m-%d %H:%M:%S')}") print(f"[Python解释器] {sys.executable}") + print(f"[运行环境] Win11 + CARLA0.9.11 + Python3.7.5") print("="*60) sys.stdout.flush() run_simulation() \ No newline at end of file