新增修改

Env/scenario_env.py

@@ -64,6 +64,11 @@ class MultiAgentScenarioEnv(ScenarioEnv):
         self.round = 0
         super().__init__(config)
 
+    @property
+    def num_controlled_in_scenario(self) -> int:
+        """整个场景中受控车轨迹总数（car_birth_info_list 长度），会在不同 show_time 陆续 spawn。"""
+        return len(getattr(self, "car_birth_info_list", []))
+
     def reset(self, seed: Union[None, int] = None):
         self.round = 0
         if self.logger is None:

scripts/visualize.py

@@ -55,7 +55,7 @@ def _run_replay(args):
                 print(f"Error resetting scenario {i}: {e}")
                 continue
 
-            print(f"Scenario loaded. Controlled agents: {len(env.controlled_agents)}")
+            print(f"Scenario loaded. Controlled agents (current): {len(env.controlled_agents)}, total in scenario: {env.num_controlled_in_scenario}")
 
             for step in range(args.horizon):
                 obs, rewards, dones, infos = env.step(None)
@@ -176,7 +176,7 @@ def _run_policy(args):
                     pass
                 continue
 
-            print(f"Scenario loaded. Controlled agents: {len(obs_dict)}")
+            print(f"Scenario loaded. Controlled agents (current): {len(obs_dict)}, total in scenario: {env.num_controlled_in_scenario}")
             if len(obs_dict) == 0:
                 print(f"Scenario {i} has no controlled agents (all filtered out). Skipping.")
                 continue