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环境代码优化

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huangfu
2026-02-04 20:20:13 +08:00
parent 03dee0205a
commit 95cc78d940
10 changed files with 296 additions and 174 deletions
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46
Env/scenario_env.py
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@@ -76,28 +76,9 @@ class MultiAgentScenarioEnv(ScenarioEnv):
if self.engine is None:
raise ValueError("Broken MetaDrive instance.")
# 记录专家数据中每辆车的位置，接着全部清除，只保留位置等信息，用于后续生成
_obj_to_clean_this_frame = []
self.car_birth_info_list = []
for scenario_id, track in self.engine.traffic_manager.current_traffic_data.items():
if scenario_id == self.engine.traffic_manager.sdc_scenario_id:
continue
else:
if track["type"] == MetaDriveType.VEHICLE:
_obj_to_clean_this_frame.append(scenario_id)
valid = track['state']['valid']
first_show = np.argmax(valid) if valid.any() else -1
last_show = len(valid) - 1 - np.argmax(valid[::-1]) if valid.any() else -1
# id，出现时间，出生点坐标，出生朝向，目的地
self.car_birth_info_list.append({
'id': track['metadata']['object_id'],
'show_time': first_show,
'begin': (track['state']['position'][first_show, 0], track['state']['position'][first_show, 1]),
'heading': track['state']['heading'][first_show],
'end': (track['state']['position'][last_show, 0], track['state']['position'][last_show, 1])
})
for scenario_id in _obj_to_clean_this_frame:
self.background_vehicles = getattr(self, "background_vehicles", {})
self.car_birth_info_list, self.background_vehicles, _obj_to_clean = self._build_birth_lists_from_traffic()
for scenario_id in _obj_to_clean:
self.engine.traffic_manager.current_traffic_data.pop(scenario_id)
# Clear vehicles we spawned via engine.spawn_object() so _object_clean_check() passes
@@ -126,6 +107,27 @@ class MultiAgentScenarioEnv(ScenarioEnv):
return self._get_all_obs()
def _build_birth_lists_from_traffic(self):
"""Build car_birth_info_list and obj_to_clean from current_traffic_data. Override for filtered (lane/static) selection."""
_obj_to_clean_this_frame = []
car_birth_info_list = []
for scenario_id, track in self.engine.traffic_manager.current_traffic_data.items():
if scenario_id == self.engine.traffic_manager.sdc_scenario_id:
continue
if track["type"] == MetaDriveType.VEHICLE:
_obj_to_clean_this_frame.append(scenario_id)
valid = track["state"]["valid"]
first_show = int(np.argmax(valid)) if valid.any() else -1
last_show = len(valid) - 1 - int(np.argmax(valid[::-1])) if valid.any() else -1
car_birth_info_list.append({
"id": track["metadata"]["object_id"],
"show_time": first_show,
"begin": (track["state"]["position"][first_show, 0], track["state"]["position"][first_show, 1]),
"heading": track["state"]["heading"][first_show],
"end": (track["state"]["position"][last_show, 0], track["state"]["position"][last_show, 1]),
})
return car_birth_info_list, {}, _obj_to_clean_this_frame
def _spawn_controlled_agents(self):
# ego_vehicle = self.engine.agent_manager.active_agents.get("default_agent")
# ego_position = ego_vehicle.position if ego_vehicle else np.array([0, 0])