diff --git a/src/V2X_edge_intelligence/src/main4.py b/src/V2X_edge_intelligence/src/main4.py
new file mode 100644
index 0000000000..46d23d8f78
--- /dev/null
+++ b/src/V2X_edge_intelligence/src/main4.py
@@ -0,0 +1,229 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+"""
+CARLA 0.9.10
+"""
+import sys
+import os
+import time
+import math
+
+# ====================== 1. CARLA加载（兼容相对路径，无硬编码绝对路径） ======================
+# 优先从项目内carla_lib加载，无则回退到默认路径（保证兼容性）
+CURRENT_DIR = os.path.dirname(os.path.abspath(__file__))
+CARLA_LIB_DIR = os.path.join(CURRENT_DIR, "../carla_lib")  # 上级目录carla_lib
+DEFAULT_CARLA_PATH = "D:/WindowsNoEditor"
+
+# 自动查找egg文件
+egg_file = None
+# 尝试项目内carla_lib
+if os.path.exists(CARLA_LIB_DIR):
+    egg_files = [f for f in os.listdir(CARLA_LIB_DIR) if f.endswith(".egg") and "0.9.10" in f]
+    if egg_files:
+        egg_file = os.path.join(CARLA_LIB_DIR, egg_files[0])
+# 回退到默认路径
+if not egg_file:
+    egg_file = os.path.join(DEFAULT_CARLA_PATH, "PythonAPI", "carla", "dist", "carla-0.9.10-py3.7-win-amd64.egg")
+
+try:
+    sys.path.append(egg_file)
+    import carla
+    print(f"✅ CARLA加载成功（egg路径：{egg_file}）")
+except Exception as e:
+    print(f"❌ CARLA加载失败：{e}")
+    print("请确保：1. CARLA egg文件存在 2. Python版本为3.7")
+    sys.exit(1)
+
+# ====================== 2. 核心参数（全部最优适配，核心增大转向角度） ======================
+# 速度参数（不变：低速平稳无抖动）
+BASE_SPEED = 1.5               # 直道速度 1.5m/s
+CURVE_TARGET_SPEED = 1.0       # 弯道速度 1.0m/s
+SPEED_DEADZONE = 0.1
+ACCELERATION_FACTOR = 0.04
+DECELERATION_FACTOR = 0.06
+SPEED_TRANSITION_RATE = 0.03
+
+# 晚转弯核心参数【不变】：仅前方5米触发转向，接近弯道才转
+LOOKAHEAD_DISTANCE = 20.0      # 20米前瞻 提前减速
+WAYPOINT_STEP = 1.0
+CURVE_DETECTION_THRESHOLD = 2.0
+TURN_TRIGGER_DISTANCE_IDX = 4  # 前方5米 触发转向 (晚转弯核心)
+
+# ========== 本次核心修改：拉满转弯角度 解决角度不够 ==========
+STEER_ANGLE_MAX = 0.85         # 最大转向角拉满到0.85【重中之重】之前0.7，角度大幅增大
+STEER_RESPONSE_FACTOR = 0.4    # 转向响应拉满0.4 最快响应，晚转+大角度一步到位
+STEER_AMPLIFY = 1.6            # 转向角放大系数倍增到1.6 小偏差也能转出超大角度
+MIN_STEER = 0.2                # 最小转向角提高到0.2 强制保底转向力度 绝对不转不动
+
+# 出生点偏移【不变】：左移2米
+SPAWN_OFFSET_X = -2.0
+SPAWN_OFFSET_Y = 0.0
+SPAWN_OFFSET_Z = 0.0
+
+# ====================== 3. 核心工具函数 ======================
+def get_road_direction_ahead(vehicle, world):
+    """晚转弯逻辑不变：前方5米判定转向，20米提前减速"""
+    vehicle_transform = vehicle.get_transform()
+    carla_map = world.get_map()
+
+    waypoints = []
+    current_wp = carla_map.get_waypoint(vehicle_transform.location)
+    next_wp = current_wp
+
+    for _ in range(int(LOOKAHEAD_DISTANCE / WAYPOINT_STEP)):
+        next_wps = next_wp.next(WAYPOINT_STEP)
+        if not next_wps:
+            break
+        next_wp = next_wps[0]
+        waypoints.append(next_wp)
+
+    if len(waypoints) < 3:
+        return vehicle_transform.rotation.yaw, False, 0.0
+
+    # 晚转弯核心：仅取前方5米的道路点判定方向
+    target_wp_idx = min(TURN_TRIGGER_DISTANCE_IDX, len(waypoints)-1)
+    target_wp = waypoints[target_wp_idx]
+    target_yaw = target_wp.transform.rotation.yaw
+
+    current_yaw = vehicle_transform.rotation.yaw
+    yaw_diff = target_yaw - current_yaw
+    yaw_diff = (yaw_diff + 180) % 360 - 180
+    is_curve = abs(yaw_diff) > CURVE_DETECTION_THRESHOLD
+
+    return target_yaw, is_curve, yaw_diff
+
+def calculate_steer_angle(current_yaw, target_yaw):
+    """核心：超大角度转向计算，绝对够力度转进直道"""
+    yaw_diff = target_yaw - current_yaw
+    yaw_diff = (yaw_diff + 180) % 360 - 180
+
+    # 三重放大：最大角度+系数放大+最小转向角 保证转弯角度绝对足够
+    steer = (yaw_diff / 180.0 * STEER_ANGLE_MAX) * STEER_AMPLIFY
+    steer = max(-STEER_ANGLE_MAX, min(STEER_ANGLE_MAX, steer))
+
+    # 强制最小转向力度：哪怕极缓弯道，也有足够角度，杜绝转不动
+    if abs(steer) > 0.05 and abs(steer) < MIN_STEER:
+        steer = MIN_STEER * (1 if steer>0 else -1)
+
+    return steer
+
+# ====================== 4. 主函数（唯一入口） ======================
+def main():
+    try:
+        client = carla.Client('localhost', 2000)
+        client.set_timeout(10.0)
+        world = client.load_world('Town01')
+        world.set_weather(carla.WeatherParameters.ClearNoon)
+        world.apply_settings(carla.WorldSettings(synchronous_mode=False,fixed_delta_seconds=0.1))
+        print("✅ 已连接CARLA并加载Town01地图")
+    except Exception as e:
+        print(f"❌ 连接CARLA失败：{e}")
+        return
+
+    # 清理旧车辆
+    for actor in world.get_actors().filter('vehicle.*'):
+        actor.destroy()
+    print("✅ 已清理旧车辆")
+
+    # 生成车辆 + 出生点左移2米 【不变】
+    bp_lib = world.get_blueprint_library()
+    veh_bp = bp_lib.filter("vehicle")[0]
+    veh_bp.set_attribute('color', '255,0,0')
+
+    spawn_points = world.get_map().get_spawn_points()
+    original_spawn_point = spawn_points[0]
+    spawn_point = carla.Transform(
+        carla.Location(
+            x=original_spawn_point.location.x + SPAWN_OFFSET_X,
+            y=original_spawn_point.location.y + SPAWN_OFFSET_Y,
+            z=original_spawn_point.location.z + SPAWN_OFFSET_Z
+        ),
+        original_spawn_point.rotation
+    )
+    vehicle = world.spawn_actor(veh_bp, spawn_point)
+    print(f"✅ 车辆生成成功（出生点左移{abs(SPAWN_OFFSET_X)}米）")
+    print(f"   调整后位置：({spawn_point.location.x:.1f}, {spawn_point.location.y:.1f})")
+
+    # 视角同步左移
+    spectator = world.get_spectator()
+    spec_loc = carla.Location(x=spawn_point.location.x,y=spawn_point.location.y,z=40.0)
+    spec_rot = carla.Rotation(pitch=-85.0,yaw=spawn_point.rotation.yaw,roll=0.0)
+    spectator.set_transform(carla.Transform(spec_loc, spec_rot))
+    print("\n✅ 视角已定位到车辆上方（俯视视角）")
+
+    # 初始化控制参数
+    control = carla.VehicleControl()
+    control.hand_brake = False
+    control.manual_gear_shift = False
+    control.gear = 1
+
+    current_steer = 0.0
+    current_target_speed = BASE_SPEED
+    last_throttle = 0.0
+    last_brake = 0.0
+
+    print(f"\n🚗 开始自动驾驶（直道{BASE_SPEED}m/s | 弯道减速至{CURVE_TARGET_SPEED}m/s）...")
+    print("✅ 超大转弯角度+晚转弯+左移出生点，所有需求全部满足！")
+    print("💡 按Ctrl+C停止程序\n")
+
+    try:
+        while True:
+            # 获取车辆状态
+            velocity = vehicle.get_velocity()
+            current_speed = math.hypot(velocity.x, velocity.y)
+            current_yaw = vehicle.get_transform().rotation.yaw
+
+            # 晚转弯+弯道识别
+            target_yaw, is_curve, yaw_diff = get_road_direction_ahead(vehicle, world)
+
+            # 弯道渐进减速 【不变】
+            if is_curve:
+                current_target_speed = max(CURVE_TARGET_SPEED, current_target_speed - SPEED_TRANSITION_RATE)
+            else:
+                current_target_speed = min(BASE_SPEED, current_target_speed + SPEED_TRANSITION_RATE/2)
+
+            # 平滑速度控制 无抖动 【不变】
+            speed_error = current_target_speed - current_speed
+            if abs(speed_error) < SPEED_DEADZONE:
+                control.throttle = last_throttle * 0.85
+                control.brake = 0.0
+            elif speed_error > 0:
+                control.throttle = min(last_throttle + ACCELERATION_FACTOR, 0.25)
+                control.brake = 0.0
+                last_throttle = control.throttle
+            else:
+                control.brake = min(last_brake + DECELERATION_FACTOR, 0.2)
+                control.throttle = 0.0
+                last_brake = control.brake
+
+            # ========== 核心：超大角度+最快响应转向 ==========
+            target_steer = calculate_steer_angle(current_yaw, target_yaw)
+            current_steer = current_steer + (target_steer - current_steer) * STEER_RESPONSE_FACTOR
+            control.steer = current_steer
+
+            # 下发指令
+            vehicle.apply_control(control)
+
+            # 状态显示
+            curve_status = "🔴 弯道（减速中）" if is_curve else "🟢 直道"
+            speed_info = f"当前:{current_speed:.2f}m/s 目标:{current_target_speed:.2f}m/s"
+            steer_info = f"{current_steer:.2f}(最大:{STEER_ANGLE_MAX})"
+            yaw_info = f"偏差:{yaw_diff:.0f}°"
+
+            print(f"\r{curve_status:12s} | {yaw_info} | 转向角：{steer_info} | 速度：{speed_info}", end="")
+
+            time.sleep(0.1)
+
+    except KeyboardInterrupt:
+        print("\n\n🛑 停止程序...")
+
+    # 清理资源
+    if vehicle and vehicle.is_alive:
+        vehicle.destroy()
+        print("✅ 车辆已销毁")
+    world.apply_settings(carla.WorldSettings(synchronous_mode=False))
+    print("✅ 程序正常退出")
+
+# ====================== 唯一程序入口 ======================
+if __name__ == "__main__":
+    main()
\ No newline at end of file
diff --git a/src/V2X_edge_intelligence/src/main7.py b/src/V2X_edge_intelligence/src/main7.py
new file mode 100644
index 0000000000..8086db9eb2
--- /dev/null
+++ b/src/V2X_edge_intelligence/src/main7.py
@@ -0,0 +1,271 @@
+# main.py（CARLA V2X三区均衡变速测试 - 唯一入口+无绝对路径）
+import sys
+import os
+import time
+import json
+import math
+
+# ===================== 1. 自动适配CARLA路径（无绝对路径） =====================
+def setup_carla_path():
+    """
+    自动配置CARLA PythonAPI路径（优先级：环境变量 > 相对路径 > 手动输入）
+    彻底移除硬编码绝对路径，适配不同环境/安装位置
+    """
+    # 优先级1：读取系统环境变量（推荐长期使用）
+    carla_api_env = os.environ.get("CARLA_PYTHON_API_PATH")
+    if carla_api_env and os.path.exists(carla_api_env):
+        egg_files = [f for f in os.listdir(carla_api_env) if f.endswith(".egg")]
+        if egg_files:
+            carla_egg = os.path.join(carla_api_env, egg_files[0])
+            print(f"🔍 从环境变量加载CARLA egg：{carla_egg}")
+            sys.path.insert(0, carla_egg)
+            return True
+
+    # 优先级2：自动查找常见相对路径（适配多数用户目录结构）
+    common_relative_paths = [
+        "./PythonAPI/carla/dist",          # 当前目录下的CARLA API
+        "../WindowsNoEditor/PythonAPI/carla/dist",  # 上级目录的CARLA
+        "./WindowsNoEditor/PythonAPI/carla/dist"    # 当前目录的CARLA
+    ]
+    for path in common_relative_paths:
+        if os.path.exists(path):
+            egg_files = [f for f in os.listdir(path) if f.endswith(".egg")]
+            if egg_files:
+                carla_egg = os.path.join(path, egg_files[0])
+                print(f"🔍 自动找到CARLA egg：{carla_egg}")
+                sys.path.insert(0, carla_egg)
+                return True
+
+    # 优先级3：提示用户手动输入（兜底方案）
+    print("\n⚠️  未自动识别CARLA PythonAPI路径！")
+    print("📌 请先配置环境变量（推荐）：")
+    print("   Windows: set CARLA_PYTHON_API_PATH=你的CARLA路径\\PythonAPI\\carla\\dist")
+    print("   Linux/Mac: export CARLA_PYTHON_API_PATH=你的CARLA路径/PythonAPI/carla/dist")
+    manual_path = input("\n请输入CARLA egg文件所在目录（留空退出）：").strip()
+    if manual_path and os.path.exists(manual_path):
+        egg_files = [f for f in os.listdir(manual_path) if f.endswith(".egg")]
+        if egg_files:
+            carla_egg = os.path.join(manual_path, egg_files[0])
+            sys.path.insert(0, carla_egg)
+            print(f"✅ 手动加载CARLA egg：{carla_egg}")
+            return True
+
+    return False
+
+# 初始化CARLA路径（无绝对路径）
+print(f"🔍 当前Python解释器路径：{sys.executable}")
+print(f"🔍 当前Python版本：{sys.version.split()[0]}")
+
+if not setup_carla_path():
+    print("\n❌ 无法加载CARLA PythonAPI，请检查路径配置！")
+    sys.exit(1)
+
+# 导入CARLA（适配0.9.10+版本）
+try:
+    import carla
+    print("✅ CARLA模块导入成功！")
+except Exception as e:
+    print(f"\n❌ CARLA导入失败：{str(e)}")
+    sys.exit(1)
+
+# ===================== 2. 核心逻辑：三区均衡分配+低速精准控速 =====================
+class RoadSideUnit:
+    def __init__(self, carla_world, vehicle):
+        self.world = carla_world
+        self.vehicle = vehicle
+        # 三区等距坐标（基于车辆生成位置动态计算，无绝对坐标）
+        spawn_loc = vehicle.get_location()
+        # 高速区：生成位置前5-15米（长度10米）
+        self.high_zone_start = carla.Location(spawn_loc.x, spawn_loc.y + 5, spawn_loc.z)
+        self.high_zone_end = carla.Location(spawn_loc.x, spawn_loc.y + 15, spawn_loc.z)
+        # 中速区：生成位置前15-25米（长度10米）
+        self.mid_zone_start = carla.Location(spawn_loc.x, spawn_loc.y + 15, spawn_loc.z)
+        self.mid_zone_end = carla.Location(spawn_loc.x, spawn_loc.y + 25, spawn_loc.z)
+        # 低速区：生成位置前25-35米（长度10米）
+        self.low_zone_start = carla.Location(spawn_loc.x, spawn_loc.y + 25, spawn_loc.z)
+        self.low_zone_end = carla.Location(spawn_loc.x, spawn_loc.y + 35, spawn_loc.z)
+
+        # 三区计时逻辑（确保每区停留10秒）
+        self.current_zone = "high"  # 初始区：高速
+        self.zone_start_time = time.time()
+        self.zone_duration = 10  # 每区停留10秒（30秒测试周期）
+        self.speed_map = {"high": 40, "mid": 25, "low": 10}
+
+    def get_balance_speed_limit(self):
+        """计时+位置双重判断，确保三区平均分配"""
+        current_time = time.time()
+        vehicle_loc = self.vehicle.get_location()
+        vehicle_y = vehicle_loc.y
+        spawn_y = self.vehicle.get_location().y
+
+        # 1. 计时强制切换：每区停留10秒必切换
+        if current_time - self.zone_start_time > self.zone_duration:
+            zone_switch = {"high": "mid", "mid": "low", "low": "high"}
+            self.current_zone = zone_switch[self.current_zone]
+            self.zone_start_time = current_time
+
+        # 2. 位置验证：确保区域与物理位置匹配
+        if spawn_y + 5 <= vehicle_y < spawn_y + 15:
+            self.current_zone = "high"
+        elif spawn_y + 15 <= vehicle_y < spawn_y + 25:
+            self.current_zone = "mid"
+        elif spawn_y + 25 <= vehicle_y < spawn_y + 35:
+            self.current_zone = "low"
+
+        # 返回速度和区域名称
+        speed_limit = self.speed_map[self.current_zone]
+        zone_name = {
+            "high": "高速区(40km/h)",
+            "mid": "中速区(25km/h)",
+            "low": "低速区(10km/h)"
+        }[self.current_zone]
+        return speed_limit, zone_name
+
+    def send_speed_command(self, vehicle_id, speed_limit, zone_type):
+        command = {
+            "vehicle_id": vehicle_id,
+            "speed_limit_kmh": speed_limit,
+            "zone_type": zone_type,
+            "timestamp": time.time()
+        }
+        print(f"\n📡 路侧V2X指令：{json.dumps(command, indent=2, ensure_ascii=False)}")
+        return command
+
+class VehicleUnit:
+    def __init__(self, vehicle):
+        self.vehicle = vehicle
+        self.vehicle.set_autopilot(False)
+        self.control = carla.VehicleControl()
+        self.control.steer = 0.0  # 强制直行
+        self.control.hand_brake = False
+        print("✅ 车辆已设置为手动直行（三区精准控速）")
+
+    def get_actual_speed(self):
+        """计算车辆实际速度（km/h）"""
+        velocity = self.vehicle.get_velocity()
+        speed_kmh = math.sqrt(velocity.x ** 2 + velocity.y ** 2 + velocity.z ** 2) * 3.6
+        return round(speed_kmh, 1)
+
+    def precise_speed_control(self, target_speed):
+        """三区精准控速，低速区加大油门确保到10km/h"""
+        actual_speed = self.get_actual_speed()
+
+        # 高速区：38-42km/h
+        if target_speed == 40:
+            if actual_speed > 42:
+                self.control.throttle = 0.0
+                self.control.brake = 0.4
+            elif actual_speed < 38:
+                self.control.throttle = 0.9
+                self.control.brake = 0.0
+            else:
+                self.control.throttle = 0.2
+                self.control.brake = 0.0
+
+        # 中速区：23-27km/h
+        elif target_speed == 25:
+            if actual_speed > 27:
+                self.control.throttle = 0.0
+                self.control.brake = 0.3
+            elif actual_speed < 23:
+                self.control.throttle = 0.6
+                self.control.brake = 0.0
+            else:
+                self.control.throttle = 0.1
+                self.control.brake = 0.0
+
+        # 低速区：9-11km/h（0.4油门确保速度达标）
+        elif target_speed == 10:
+            if actual_speed > 11:
+                self.control.throttle = 0.0
+                self.control.brake = 0.2
+            elif actual_speed < 9:
+                self.control.throttle = 0.4  # 加大油门确保到10km/h
+                self.control.brake = 0.0
+            else:
+                self.control.throttle = 0.15
+                self.control.brake = 0.0
+
+        self.vehicle.apply_control(self.control)
+        return actual_speed
+
+    def receive_speed_command(self, command):
+        target_speed = command["speed_limit_kmh"]
+        actual_speed = self.precise_speed_control(target_speed)
+        print(
+            f"🚗 车载执行：目标{target_speed}km/h → 实际{actual_speed}km/h | 油门={round(self.control.throttle, 1)} 刹车={round(self.control.brake, 1)}")
+
+# ===================== 3. 近距离视角配置 =====================
+def set_near_observation_view(world, vehicle):
+    """设置车辆后方近距离视角（无绝对坐标）"""
+    spectator = world.get_spectator()
+    vehicle_transform = vehicle.get_transform()
+    forward_vector = vehicle_transform.rotation.get_forward_vector()
+    right_vector = vehicle_transform.rotation.get_right_vector()
+    view_location = vehicle_transform.location - forward_vector * 8 + right_vector * 2 + carla.Location(z=2)
+    view_rotation = carla.Rotation(pitch=-15, yaw=vehicle_transform.rotation.yaw, roll=0)
+    spectator.set_transform(carla.Transform(view_location, view_rotation))
+    print("✅ 初始视角已设置：车辆后方近距离")
+    print("📌 视角操作：鼠标拖拽=旋转 | 滚轮=缩放 | WASD=移动")
+
+def get_valid_spawn_point(world):
+    """获取道路有效生成点（无绝对坐标）"""
+    spawn_points = world.get_map().get_spawn_points()
+    valid_spawn = spawn_points[10] if len(spawn_points) >= 10 else spawn_points[5]
+    print(f"✅ 车辆生成位置：(x={valid_spawn.location.x:.1f}, y={valid_spawn.location.y:.1f})")
+    return valid_spawn
+
+# ===================== 4. 主入口逻辑（唯一入口） =====================
+def main():
+    # 1. 连接CARLA服务器（通用提示，无绝对路径）
+    try:
+        client = carla.Client('localhost', 2000)
+        client.set_timeout(20.0)
+        world = client.get_world()
+        print(f"\n✅ 连接CARLA成功！服务器版本：{client.get_server_version()}")
+    except Exception as e:
+        print(f"\n❌ CARLA服务器连接失败：{str(e)}")
+        print("📌 请先启动CARLA服务器（通用路径参考）：")
+        print("   Windows: ./WindowsNoEditor/CarlaUE4.exe")
+        print("   Linux/Mac: ./CarlaUE4.sh")
+        sys.exit(1)
+
+    # 2. 生成测试车辆（红色车身）
+    try:
+        bp_lib = world.get_blueprint_library()
+        vehicle_bp = bp_lib.filter('vehicle.tesla.model3')[0]
+        vehicle_bp.set_attribute('color', '255,0,0')
+        valid_spawn = get_valid_spawn_point(world)
+        vehicle = world.spawn_actor(vehicle_bp, valid_spawn)
+        print(f"✅ 车辆生成成功，ID：{vehicle.id}（红色车身）")
+    except Exception as e:
+        print(f"\n❌ 车辆生成失败：{str(e)}")
+        sys.exit(1)
+
+    # 3. 初始化V2X组件+设置视角
+    rsu = RoadSideUnit(world, vehicle)
+    vu = VehicleUnit(vehicle)
+    set_near_observation_view(world, vehicle)
+
+    # 4. 启动三区均衡测试
+    print("\n✅ 开始V2X三区均衡变速测试（30秒）...")
+    print("📌 高速/中速/低速区各停留10秒，低速精准到10km/h！")
+    start_time = time.time()
+    try:
+        while time.time() - start_time < 30:
+            speed_limit, zone_type = rsu.get_balance_speed_limit()
+            command = rsu.send_speed_command(vehicle.id, speed_limit, zone_type)
+            vu.receive_speed_command(command)
+            time.sleep(1)  # 1秒高频更新，响应更快
+    except KeyboardInterrupt:
+        print("\n⚠️  用户手动中断测试")
+    finally:
+        # 安全停车并销毁车辆
+        vehicle.apply_control(carla.VehicleControl(brake=1.0, throttle=0.0, steer=0.0))
+        time.sleep(2)
+        vehicle.destroy()
+        print("\n✅ 测试结束，车辆已销毁")
+
+# 唯一入口（确保仅main.py作为脚本运行）
+if __name__ == "__main__":
+    main()
\ No newline at end of file