场景管理增强,传感器增强等

src/enhance_pedestrian_safety/annotation_generator.py

@@ -21,7 +21,12 @@ def detect_objects(self, world, frame_num, timestamp):
             'frame_id': frame_num,
             'timestamp': timestamp,
             'objects': [],
-            'camera_info': {}
+            'camera_info': {},
+            'safety_info': {
+                'pedestrian_count': 0,
+                'vehicle_count': 0,
+                'high_risk_interactions': 0
+            }
         }
 
         try:
@@ -36,6 +41,16 @@ def detect_objects(self, world, frame_num, timestamp):
                         annotations['objects'].append(obj_info)
                         self.object_counter += 1
 
+                        # 更新安全统计
+                        if 'walker' in obj_type:
+                            annotations['safety_info']['pedestrian_count'] += 1
+                        elif 'vehicle' in obj_type:
+                            annotations['safety_info']['vehicle_count'] += 1
+
+            # 检测高风险交互
+            annotations['safety_info']['high_risk_interactions'] = self._detect_high_risk_interactions(
+                annotations['objects'])
+
             self._save_annotations(frame_num, annotations)
             return annotations
 
@@ -110,6 +125,30 @@ def _get_object_class(self, type_id):
         else:
             return 'unknown'
 
+    def _detect_high_risk_interactions(self, objects):
+        """检测高风险交互"""
+        high_risk_count = 0
+        pedestrians = [obj for obj in objects if obj['class'] == 'pedestrian']
+        vehicles = [obj for obj in objects if obj['class'] in ['car', 'vehicle']]
+
+        for pedestrian in pedestrians:
+            for vehicle in vehicles:
+                # 计算距离
+                p_loc = pedestrian['location']
+                v_loc = vehicle['location']
+
+                distance = np.sqrt(
+                    (p_loc['x'] - v_loc['x']) ** 2 +
+                    (p_loc['y'] - v_loc['y']) ** 2 +
+                    (p_loc['z'] - v_loc['z']) ** 2
+                )
+
+                # 如果距离小于5米，认为是高风险交互
+                if distance < 5.0:
+                    high_risk_count += 1
+
+        return high_risk_count
+
     def _save_annotations(self, frame_num, annotations):
         """保存标注到文件"""
         filename = f"frame_{frame_num:06d}.json"
@@ -130,7 +169,13 @@ def _update_master_annotation(self):
             'total_frames': len(self.frame_annotations),
             'total_objects': self.object_counter,
             'frames': list(self.frame_annotations.keys()),
-            'created': datetime.now().isoformat()
+            'created': datetime.now().isoformat(),
+            'safety_summary': {
+                'total_pedestrians': sum(f['safety_info']['pedestrian_count'] for f in self.frame_annotations.values()),
+                'total_vehicles': sum(f['safety_info']['vehicle_count'] for f in self.frame_annotations.values()),
+                'total_high_risk': sum(
+                    f['safety_info']['high_risk_interactions'] for f in self.frame_annotations.values())
+            }
         }
 
         with open(master_file, 'w', encoding='utf-8') as f:
@@ -141,6 +186,7 @@ def generate_summary(self):
         vehicle_count = 0
         pedestrian_count = 0
         other_count = 0
+        high_risk_count = 0
 
         for frame_data in self.frame_annotations.values():
             for obj in frame_data.get('objects', []):
@@ -151,14 +197,21 @@ def generate_summary(self):
                 else:
                     other_count += 1
 
+            high_risk_count += frame_data['safety_info']['high_risk_interactions']
+
         summary = {
             'total_frames': len(self.frame_annotations),
             'total_objects': self.object_counter,
             'vehicles': vehicle_count,
             'pedestrians': pedestrian_count,
             'other_objects': other_count,
+            'high_risk_interactions': high_risk_count,
             'average_objects_per_frame': self.object_counter / len(
-                self.frame_annotations) if self.frame_annotations else 0
+                self.frame_annotations) if self.frame_annotations else 0,
+            'safety_metrics': {
+                'pedestrian_to_vehicle_ratio': pedestrian_count / max(1, vehicle_count),
+                'high_risk_percentage': high_risk_count / max(1, self.object_counter) * 100
+            }
         }
 
         summary_file = os.path.join(self.annotations_dir, "summary.json")

src/enhance_pedestrian_safety/carla_utils.py

@@ -1,7 +1,6 @@
 """
 CARLA 工具模块 - 用于自动查找和配置 CARLA 路径
 """
-# carla_utils.py
 import sys
 import os
 import glob

src/enhance_pedestrian_safety/config_manager.py

@@ -6,6 +6,7 @@
 
 try:
     import yaml
+
     YAML_AVAILABLE = True
 except ImportError:
     YAML_AVAILABLE = False
@@ -65,6 +66,13 @@ def suggest_optimizations(config: Dict[str, Any]) -> List[str]:
         if len(enabled_outputs) > 5:
             suggestions.append(f"启用的输出类型过多({len(enabled_outputs)})，可能影响性能，建议只启用必要的输出")
 
+        # 行人安全相关建议
+        if config.get('traffic', {}).get('pedestrians', 0) < 5:
+            suggestions.append("行人数量较少，建议增加行人数量以更好地测试行人安全")
+
+        if not config.get('v2x', {}).get('enabled', False):
+            suggestions.append("V2X通信未启用，建议启用以支持行人安全预警")
+
         return suggestions
 
 
@@ -193,7 +201,8 @@ def optimize_for_safety(config: Dict[str, Any]) -> Dict[str, Any]:
                 'walker.pedestrian.0002',
                 'walker.pedestrian.0003',
                 'walker.pedestrian.0004'
-            ]
+            ],
+            'speed_limit': 30.0  # 添加车速限制
         })
 
         # 优化传感器配置以更好地检测行人
@@ -225,14 +234,17 @@ def optimize_for_safety(config: Dict[str, Any]) -> Dict[str, Any]:
         v2x.update({
             'enabled': True,
             'communication_range': 300.0,
-            'update_interval': 1.0  # 更频繁地更新
+            'update_interval': 1.0,  # 更频繁地更新
+            'enable_safety_warnings': True,
+            'pedestrian_warning_threshold': 10.0  # 行人警告距离阈值
         })
 
         coop = optimized.setdefault('cooperative', {})
         coop.update({
             'num_coop_vehicles': 2,
             'enable_shared_perception': True,
             'enable_traffic_warnings': True,
+            'enable_pedestrian_warnings': True,  # 启用行人警告
             'enable_maneuver_coordination': False,
             'data_fusion_interval': 0.5,  # 更频繁地融合
             'max_shared_objects': 100,
@@ -247,7 +259,8 @@ def optimize_for_safety(config: Dict[str, Any]) -> Dict[str, Any]:
             'compression_level': 3,
             'enable_memory_cache': True,
             'max_cache_size': 40,
-            'frame_rate_limit': 8.0
+            'frame_rate_limit': 8.0,
+            'safety_monitoring_interval': 1.0  # 安全监控间隔
         })
 
         # 输出配置
@@ -260,16 +273,33 @@ def optimize_for_safety(config: Dict[str, Any]) -> Dict[str, Any]:
             'save_fusion': True,
             'save_cooperative': True,
             'save_enhanced': True,
+            'save_safety_reports': True,  # 保存安全报告
             'validate_data': True,
             'run_analysis': True,
-            'run_quality_check': True
+            'run_quality_check': True,
+            'generate_safety_summary': True  # 生成安全摘要
+        })
+
+        # 增强配置
+        enhanced = optimized.setdefault('enhancement', {})
+        enhanced.update({
+            'enabled': True,
+            'enable_random': True,
+            'quality_check': True,
+            'save_original': True,
+            'save_enhanced': True,
+            'calibration_generation': True,
+            'enhanced_dir_name': 'enhanced',
+            'methods': ['normalize', 'contrast', 'brightness', 'pedestrian_highlight', 'safety_warning'],
+            'weather_effects': True,
+            'augmentation_level': 'medium',
+            'pedestrian_safety_mode': True  # 启用行人安全模式
         })
 
         return optimized
 
 
 class ConfigManager:
-
     PRESET_CONFIGS = {
         'balanced': {
             'description': '平衡配置 - 兼顾性能和质量',
@@ -338,8 +368,8 @@ def load_config(config_file: Optional[str] = None, preset: Optional[str] = None)
     def _get_default_config() -> Dict[str, Any]:
         return {
             'scenario': {
-                'name': 'multi_sensor_scene',
-                'description': '多传感器协同数据采集场景',
+                'name': 'pedestrian_safety',
+                'description': '行人安全增强数据采集场景',
                 'town': 'Town10HD',
                 'weather': 'clear',
                 'time_of_day': 'noon',
@@ -351,7 +381,7 @@ def _get_default_config() -> Dict[str, Any]:
             'traffic': {
                 'ego_vehicles': 1,
                 'background_vehicles': 8,
-                'pedestrians': 6,
+                'pedestrians': 12,  # 增加默认行人数量
                 'traffic_lights': True,
                 'batch_spawn': True,
                 'max_spawn_attempts': 5,
@@ -363,8 +393,11 @@ def _get_default_config() -> Dict[str, Any]:
                 ],
                 'pedestrian_types': [
                     'walker.pedestrian.0001',
-                    'walker.pedestrian.0002'
-                ]
+                    'walker.pedestrian.0002',
+                    'walker.pedestrian.0003',
+                    'walker.pedestrian.0004'
+                ],
+                'speed_limit': 30.0
             },
             'sensors': {
                 'vehicle_cameras': 4,
@@ -406,16 +439,19 @@ def _get_default_config() -> Dict[str, Any]:
                 'latency_mean': 0.05,
                 'latency_std': 0.01,
                 'packet_loss_rate': 0.01,
-                'message_types': ['bsm', 'spat', 'map', 'rsm', 'perception', 'warning'],
+                'message_types': ['bsm', 'spat', 'map', 'rsm', 'perception', 'warning', 'pedestrian_warning'],
                 'update_interval': 2.0,
                 'security_enabled': False,
                 'encryption_level': 'none',
-                'qos_policy': 'best_effort'
+                'qos_policy': 'best_effort',
+                'enable_safety_warnings': True,
+                'pedestrian_warning_threshold': 10.0
             },
             'cooperative': {
                 'num_coop_vehicles': 2,
                 'enable_shared_perception': True,
                 'enable_traffic_warnings': True,
+                'enable_pedestrian_warnings': True,
                 'enable_maneuver_coordination': False,
                 'data_fusion_interval': 1.0,
                 'max_shared_objects': 50,
@@ -431,9 +467,10 @@ def _get_default_config() -> Dict[str, Any]:
                 'save_enhanced': True,
                 'calibration_generation': True,
                 'enhanced_dir_name': 'enhanced',
-                'methods': ['normalize', 'contrast', 'brightness'],
+                'methods': ['normalize', 'contrast', 'brightness', 'pedestrian_highlight', 'safety_warning'],
                 'weather_effects': True,
-                'augmentation_level': 'medium'
+                'augmentation_level': 'medium',
+                'pedestrian_safety_mode': True
             },
             'performance': {
                 'batch_size': 5,
@@ -468,6 +505,7 @@ def _get_default_config() -> Dict[str, Any]:
                 },
                 'sensor_cleanup_timeout': 0.5,
                 'frame_rate_limit': 5.0,
+                'safety_monitoring_interval': 1.0,
                 'memory_management': {
                     'gc_interval': 50,
                     'max_memory_mb': 500,
@@ -479,16 +517,18 @@ def _get_default_config() -> Dict[str, Any]:
                 'output_format': 'standard',
                 'save_raw': True,
                 'save_stitched': True,
-                'save_annotations': False,
+                'save_annotations': True,
                 'save_lidar': True,
                 'save_fusion': True,
                 'save_cooperative': True,
                 'save_v2x_messages': True,
                 'save_enhanced': True,
+                'save_safety_reports': True,
                 'validate_data': True,
-                'run_analysis': False,
+                'run_analysis': True,
                 'run_quality_check': True,
                 'generate_summary': True,
+                'generate_safety_summary': True,
                 'compression_enabled': True,
                 'file_naming': 'sequential',
                 'backup_original': False
@@ -501,7 +541,9 @@ def _get_default_config() -> Dict[str, Any]:
                 'performance_log_interval': 10.0,
                 'enable_progress_bar': True,
                 'enable_real_time_stats': True,
-                'stats_update_interval': 5.0
+                'stats_update_interval': 5.0,
+                'enable_safety_monitor': True,
+                'safety_log_interval': 2.0
             },
             'debug': {
                 'enable_debug_mode': False,
@@ -514,7 +556,7 @@ def _get_default_config() -> Dict[str, Any]:
             'metadata': {
                 'version': '1.0.0',
                 'author': 'CVIPS System',
-                'description': '多传感器协同数据采集配置',
+                'description': '行人安全增强数据采集配置',
                 'created': '',
                 'modified': ''
             }
@@ -686,6 +728,7 @@ def print_config_summary(config: Dict[str, Any]):
         print(f"  主车: {traffic['ego_vehicles']}")
         print(f"  背景车辆: {traffic['background_vehicles']}")
         print(f"  行人: {traffic['pedestrians']}")
+        print(f"  车速限制: {traffic.get('speed_limit', '无')} km/h")
         print(f"  交通灯: {'启用' if traffic['traffic_lights'] else '禁用'}")
 
         sensors = config['sensors']
@@ -702,19 +745,21 @@ def print_config_summary(config: Dict[str, Any]):
         if v2x['enabled']:
             print(f"  通信范围: {v2x['communication_range']}米")
             print(f"  更新间隔: {v2x['update_interval']}秒")
+            print(f"  安全警告: {'启用' if v2x.get('enable_safety_warnings', False) else '禁用'}")
 
         coop = config['cooperative']
         print(f"\n🤝 协同感知:")
         print(f"  协同车辆: {coop['num_coop_vehicles']}")
         print(f"  共享感知: {'启用' if coop['enable_shared_perception'] else '禁用'}")
-        print(f"  交通警告: {'启用' if coop['enable_traffic_warnings'] else '禁用'}")
+        print(f"  行人警告: {'启用' if coop.get('enable_pedestrian_warnings', False) else '禁用'}")
 
         perf = config['performance']
         print(f"\n⚡ 性能:")
         print(f"  批处理大小: {perf['batch_size']}")
         print(f"  压缩: {'启用' if perf['enable_compression'] else '禁用'}")
         print(f"  下采样: {'启用' if perf['enable_downsampling'] else '禁用'}")
         print(f"  帧率限制: {perf['frame_rate_limit']} FPS")
+        print(f"  安全监控间隔: {perf.get('safety_monitoring_interval', 1.0)}秒")
 
         output = config['output']
         print(f"\n💾 输出:")
@@ -724,6 +769,10 @@ def print_config_summary(config: Dict[str, Any]):
                            if isinstance(v, bool) and v and k.startswith('save_')]
         print(f"  启用输出: {', '.join(enabled_outputs)}")
 
+        print(f"\n🛡️ 行人安全:")
+        print(f"  安全监控: {'启用' if config['monitoring'].get('enable_safety_monitor', False) else '禁用'}")
+        print(f"  增强安全模式: {'启用' if config['enhancement'].get('pedestrian_safety_mode', False) else '禁用'}")
+
         print("=" * 60)
 
     @staticmethod