commit

simulation-resource-server/src/main/java/com/css/simulation/resource/server/app/impl/SimulationProjectServiceImpl.java

@@ -9,9 +9,7 @@ import api.common.pojo.param.KafkaParameter;
 import api.common.pojo.param.MinioParameter;
 import api.common.pojo.param.algorithm.AlgorithmParameter;
 import api.common.pojo.param.project.*;
-import api.common.pojo.param.scene.SceneEvaluationForListParam;
-import api.common.pojo.param.scene.ScenePackageParam;
-import api.common.pojo.param.scene.SceneReferenceLibSelectParam;
+import api.common.pojo.param.scene.*;
 import api.common.pojo.param.system.DictParam;
 import api.common.pojo.po.algorithm.AlgorithmPO;
 import api.common.pojo.po.group.SimulationMageGroupPO;
@@ -65,6 +63,7 @@ import java.math.RoundingMode;
 import java.net.URLEncoder;
 import java.nio.charset.StandardCharsets;
 import java.nio.file.Files;
+import java.nio.file.Paths;
 import java.text.DecimalFormat;
 import java.text.ParseException;
 import java.text.SimpleDateFormat;
@@ -128,16 +127,25 @@ public class SimulationProjectServiceImpl implements SimulationProjectService {
     private SceneEvaluationRuleMapper sceneEvaluationRuleMapper;
 
     @Resource
-    ScenePackageMapper scenePackageMapper;
+    private ScenePackageMapper scenePackageMapper;
 
     @Resource
-    SceneComplexityMapper sceneComplexityMapper;
+    private SceneComplexityMapper sceneComplexityMapper;
 
     @Resource
-    SceneRiskMapper sceneRiskMapper;
+    private SceneRiskMapper sceneRiskMapper;
 
     @Resource
-    SceneReferenceLibMapper sceneReferenceLibMapper;
+    private SceneReferenceLibMapper sceneReferenceLibMapper;
+
+    @Resource
+    private SceneNaturalMapper sceneNaturalMapper;
+
+    @Resource
+    private SceneStandardsRegulationsMapper sceneStandardsRegulationsMapper;
+
+    @Resource
+    private SceneAccidentMapper sceneAccidentMapper;
 
     // * -------------------------------- Comment --------------------------------
 
@@ -5184,22 +5192,30 @@ public class SimulationProjectServiceImpl implements SimulationProjectService {
 
         int len;
         byte[] buffer = new byte[1024];
-        ZipOutputStream zos = null;
-        File pdfFile = null;
+        ZipOutputStream zos;
         try {
             HttpServletResponse response = ((ServletRequestAttributes) RequestContextHolder.getRequestAttributes()).getResponse();
             response.setContentType("multipart/form-data");
             response.setHeader("Content-Disposition", "attachment;fileName=" + URLEncoder.encode("场景评价包.zip", "UTF-8"));
             zos = new ZipOutputStream(response.getOutputStream());
             // 下载所有任务的数据文件
-            log.info("项目 {} 共有 {} 个任务。", id, manualProjectTaskVos.size());
-            int i = 1;
             List<String> naturalList = new ArrayList<>();
             List<String> regulationlList = new ArrayList<>();
             List<String> accidentList = new ArrayList<>();
             List<String> referenceLibList = new ArrayList<>();
 
+
+            // 添加复杂度 危险度数据
+            List<String> sceneIdList = manualProjectTaskVos.stream().map(ManualProjectTaskVo::getSceneId).collect(Collectors.toList());
+            SceneEvaluationForListParam sceneEvaluationForListParam = new SceneEvaluationForListParam();
+            sceneEvaluationForListParam.setSceneIdList(sceneIdList);
+            sceneEvaluationForListParam.setTaskId(param.getId());
+            SceneEvaluationOperatePO sceneEvaluationOperatePO = sceneEvaluationRuleService.getSceneEvaluationFirst(sceneEvaluationForListParam);
+            Map<String, SceneComplexityPO> firstComplexityPOMap = sceneEvaluationOperatePO.getSceneComplexityPOMap();
+            Map<String, SceneRiskPO> firstRiskPOMap = sceneEvaluationOperatePO.getSceneRiskPOMap();
+            Map<String, Double> scoreMap = new HashMap<>();
             for (ManualProjectTaskVo task : manualProjectTaskVos) {
+                scoreMap.put(task.getSceneId(), task.getScore());
                 // 先分类，后续用于查询具体字段内容
                 String sceneType = task.getSceneType();
                 String sceneId = task.getSceneId();
@@ -5213,142 +5229,291 @@ public class SimulationProjectServiceImpl implements SimulationProjectService {
                     referenceLibList.add(sceneId);
                 }
             }
+            List<SceneNaturalPO> naturalData = null;
+            List<StandardsRegulationsPO> regulationData = null;
+            List<SceneAccidentPO> accidentData = null;
+            List<SceneReferenceLibPO> referenceLibData = null;
+            if (CollectionUtil.isNotEmpty(naturalList)) {
+                SceneNaturalParam sceneNaturalParam = new SceneNaturalParam();
+                sceneNaturalParam.setIds(naturalList.toArray(new String[0]));
+                naturalData = sceneNaturalMapper.querySceneNaturalList(sceneNaturalParam);
+            }
+            if (CollectionUtil.isNotEmpty(regulationlList)) {
+                StandardsRegulationsParam standardsRegulationsParam = new StandardsRegulationsParam();
+                standardsRegulationsParam.setIds(regulationlList.toArray(new String[0]));
+                regulationData = sceneStandardsRegulationsMapper.queryStandardsRegulationsList(standardsRegulationsParam);
+            }
+            if (CollectionUtil.isNotEmpty(accidentList)) {
+                SceneAccidentParam params = new SceneAccidentParam();
+                params.setIds(accidentList.toArray(new String[0]));
+                accidentData = sceneAccidentMapper.querySceneAccidentList(params);
+            }
+            if (CollectionUtil.isNotEmpty(referenceLibList)) {
+                SceneReferenceLibSelectParam params = new SceneReferenceLibSelectParam();
+                params.setIds(referenceLibList.toArray(new String[0]));
+                referenceLibData = sceneReferenceLibMapper.querySceneReferenceLibList(params);
+            }
+
+
+            if (CollectionUtil.isNotEmpty(naturalData)) {
+                String tempPath = rootPath + File.separator + "自然驾驶场景.csv";
+                FileWriter naturalWriter = new FileWriter(tempPath);
+                // 写入 CSV 头部信息
+                naturalWriter.write("场景名称,自车行为,目标行为,交通情况,道路,基础设施,自然环境,临时性操纵,标签,复杂度,复杂度等级,危险度,危险度等级,算法得分\n");
+                for (SceneNaturalPO sceneNaturalPO : naturalData) {
+                    getNaturalLabel(sceneNaturalPO);
+                    String[] tempNatural = new String[14];
+                    SceneComplexityPO sceneComplexityPO = firstComplexityPOMap.get(sceneNaturalPO.getNaturalId());
+                    SceneRiskPO sceneRiskPO = firstRiskPOMap.get(sceneNaturalPO.getNaturalId());
+                    tempNatural[0] = sceneNaturalPO.getNaturalName();
+                    tempNatural[1] = sceneNaturalPO.getSelfBehavior();
+                    tempNatural[2] = sceneNaturalPO.getTargetBehavior();
+                    tempNatural[3] = sceneNaturalPO.getPatency();
+                    tempNatural[4] = sceneNaturalPO.getRoadType();
+                    tempNatural[5] = sceneNaturalPO.getRoadSafetySigns();
+                    tempNatural[6] = sceneNaturalPO.getNaturalDisaster();
+                    tempNatural[7] = "临时性操纵";
+                    tempNatural[8] = sceneNaturalPO.getLabel();
+                    tempNatural[9] = sceneComplexityPO == null ? null : sceneComplexityPO.getComplexity();
+                    tempNatural[10] = sceneComplexityPO == null ? null : sceneComplexityPO.getComplexityLevel();
+                    tempNatural[11] = sceneRiskPO == null ? null : sceneRiskPO.getRisk();
+                    tempNatural[12] = sceneRiskPO == null ? null : sceneRiskPO.getRiskLevel();
+                    tempNatural[13] = String.valueOf(scoreMap.get(sceneNaturalPO.getNaturalId()));
+                    naturalWriter.write(Arrays.toString(tempNatural));
+                }
+                naturalWriter.close();
+                ZipEntry naturalEntry = new ZipEntry(tempPath);
+                zos.putNextEntry(naturalEntry);
+                BufferedInputStream in = new BufferedInputStream(Files.newInputStream(Paths.get(tempPath)));
+                while ((len = in.read(buffer)) != -1) {
+                    zos.write(buffer, 0, len);
+                }
+                in.close();
+            }
 
-            for (ManualProjectTaskVo task : manualProjectTaskVos) {
-                log.info("当前下载进度为 {}/{}。", i++, manualProjectTaskVos.size());
-                String taskId = task.getId();
-                String runResultFilePath = task.getRunResultFilePath();
-                if (!isEmpty(runResultFilePath)) {
-                    // 获取场景名
-                    SceneBaseInfoVo sceneBaseInfoVo = getSceneNameAndOther(task.getSceneId(), task.getSceneType());
-                    String sceneName = sceneBaseInfoVo.getCommonSceneName();
-                    // 任务包路径
-                    String taskPagePath = rootPath + File.separator + sceneName + "- " + taskId.substring(0, 8);
-                    // 视频文件路径
-                    MinioParameter minioParameter1 = new MinioParameter();
-                    minioParameter1.setObjectName(runResultFilePath);
-                    ResponseBodyVO<List<String>> list = fileDownService.list(minioParameter1);
-                    List<String> info = list.getInfo();
-                    // 防止下载两次，因为结果目录里有测试用的同名文件
-                    boolean mp4_done = false;
-                    boolean Ego_csv_done = false;
-                    boolean evaluation_csv_done = false;
-
-                    for (String s : info) {
-                        String fileName;
-                        String zipPath;
-                        // 获取文件名
-                        if (s.contains("/")) {
-                            fileName = s.substring(s.lastIndexOf("/") + 1);
-                        } else {
-                            fileName = s.substring(s.lastIndexOf("\\") + 1);
-                        }
-                        zipPath = taskPagePath + File.separator + fileName;
-                        // 文件后缀
-                        String substring = s.substring(s.lastIndexOf(".") + 1);
-                        if ("mp4".equals(substring)) {
-                            if (mp4_done) {
-                                continue;
-                            }
-                            // mp4视频文件导出
-                            MinioParameter minioParameter2 = new MinioParameter();
-                            minioParameter2.setObjectName(s);
-                            Response download2 = fileDownService.download(minioParameter2);
-                            Response.Body body2 = download2.body();
-                            ZipEntry entry2 = new ZipEntry(zipPath);
-                            zos.putNextEntry(entry2);
-                            BufferedInputStream in = new BufferedInputStream(body2.asInputStream());
-                            while ((len = in.read(buffer)) != -1) {
-                                zos.write(buffer, 0, len);
-                            }
-                            in.close();
-                            mp4_done = true;
-                        } else if ("Ego.csv".equals(fileName)) {
-                            if (Ego_csv_done) {
-                                continue;
-                            }
-                            MinioParameter minioParameter = new MinioParameter();
-                            if (s.contains("/")) {
-                                minioParameter.setObjectName(runResultFilePath + "/" + fileName);
-                            } else {
-                                minioParameter.setObjectName(runResultFilePath + "\\" + fileName);
-                            }
-
-                            Response download = fileDownService.download(minioParameter);
-                            Response.Body body = download.body();
-
-                            // 任务文件路径
-                            String taskFilePath = taskPagePath + File.separator + fileName;
-
-                            ZipEntry entry = new ZipEntry(taskFilePath);
-                            zos.putNextEntry(entry);
-                            BufferedInputStream in = new BufferedInputStream(body.asInputStream());
-                            while ((len = in.read(buffer)) != -1) {
-                                zos.write(buffer, 0, len);
-                            }
-                            in.close();
-                            Ego_csv_done = true;
-                        } else if ("evaluation.csv".equals(fileName)) {
-                            if (evaluation_csv_done) {
-                                continue;
-                            }
-                            MinioParameter minioParameter = new MinioParameter();
-                            if (s.contains("/")) {
-                                minioParameter.setObjectName(runResultFilePath + "/" + fileName);
-                            } else {
-                                minioParameter.setObjectName(runResultFilePath + "\\" + fileName);
-                            }
-
-                            Response download = fileDownService.download(minioParameter);
-                            Response.Body body = download.body();
-
-                            // 任务文件路径
-                            String taskFilePath = taskPagePath + File.separator + fileName;
+            if (CollectionUtil.isNotEmpty(regulationData)) {
+                String tempPath = rootPath + File.separator + "标准法规场景.csv";
+                FileWriter regulationWriter = new FileWriter(tempPath);
+                // 写入 CSV 头部信息
+                regulationWriter.write("场景名称,法规类型,标准类型,标签,复杂度,复杂度等级,危险度,危险度等级,算法得分\n");
+                for (StandardsRegulationsPO tempPo : regulationData) {
+                    String[] tempStr = new String[9];
+                    SceneComplexityPO sceneComplexityPO = firstComplexityPOMap.get(tempPo.getRegulationsId());
+                    SceneRiskPO sceneRiskPO = firstRiskPOMap.get(tempPo.getRegulationsId());
+                    tempStr[0] = tempPo.getSceneName();
+                    tempStr[1] = tempPo.getRegulationType();
+                    tempStr[2] = tempPo.getStandardType();
+                    tempStr[3] = tempPo.getLabel();
+                    tempStr[4] = sceneComplexityPO == null ? null : sceneComplexityPO.getComplexity();
+                    tempStr[5] = sceneComplexityPO == null ? null : sceneComplexityPO.getComplexityLevel();
+                    tempStr[6] = sceneRiskPO == null ? null : sceneRiskPO.getRisk();
+                    tempStr[7] = sceneRiskPO == null ? null : sceneRiskPO.getRiskLevel();
+                    tempStr[8] = String.valueOf(scoreMap.get(tempPo.getRegulationsId()));
+                    regulationWriter.write(Arrays.toString(tempStr));
+                }
+                regulationWriter.close();
+                ZipEntry entry = new ZipEntry(tempPath);
+                zos.putNextEntry(entry);
+                BufferedInputStream in = new BufferedInputStream(Files.newInputStream(Paths.get(tempPath)));
+                while ((len = in.read(buffer)) != -1) {
+                    zos.write(buffer, 0, len);
+                }
+                in.close();
+            }
 
-                            ZipEntry entry = new ZipEntry(taskFilePath);
-                            zos.putNextEntry(entry);
-                            BufferedInputStream in = new BufferedInputStream(body.asInputStream());
-                            while ((len = in.read(buffer)) != -1) {
-                                zos.write(buffer, 0, len);
-                            }
-                            in.close();
-                            evaluation_csv_done = true;
-                        }
-                    }
+            if (CollectionUtil.isNotEmpty(accidentData)) {
+                String tempPath = rootPath + File.separator + "交通事故场景.csv";
+                FileWriter accidentWriter = new FileWriter(tempPath);
+                // 写入 CSV 头部信息
+                accidentWriter.write("场景名称,自车驾驶行为,目标驾驶行为,自车反应行为,冲突行为,冲突类型,标签,复杂度,复杂度等级,危险度,危险度等级,算法得分\n");
+                for (SceneAccidentPO tempPo : accidentData) {
+                    getAccidentLabel(tempPo);
+                    String[] tempStr = new String[12];
+                    SceneComplexityPO sceneComplexityPO = firstComplexityPOMap.get(tempPo.getAccidentId());
+                    SceneRiskPO sceneRiskPO = firstRiskPOMap.get(tempPo.getAccidentId());
+                    tempStr[0] = tempPo.getSceneName();
+                    tempStr[1] = tempPo.getSelfDriving();
+                    tempStr[2] = tempPo.getTargetDriving();
+                    tempStr[3] = tempPo.getSelfReaction();
+                    tempStr[4] = tempPo.getConflictBehavior();
+                    tempStr[5] = tempPo.getConflictType();
+                    tempStr[6] = tempPo.getLabel();
+                    tempStr[7] = sceneComplexityPO == null ? null : sceneComplexityPO.getComplexity();
+                    tempStr[8] = sceneComplexityPO == null ? null : sceneComplexityPO.getComplexityLevel();
+                    tempStr[9] = sceneRiskPO == null ? null : sceneRiskPO.getRisk();
+                    tempStr[10] = sceneRiskPO == null ? null : sceneRiskPO.getRiskLevel();
+                    tempStr[11] = String.valueOf(scoreMap.get(tempPo.getAccidentId()));
+                    accidentWriter.write(Arrays.toString(tempStr));
+                }
+                accidentWriter.close();
+                ZipEntry entry = new ZipEntry(tempPath);
+                zos.putNextEntry(entry);
+                BufferedInputStream in = new BufferedInputStream(Files.newInputStream(Paths.get(tempPath)));
+                while ((len = in.read(buffer)) != -1) {
+                    zos.write(buffer, 0, len);
                 }
+                in.close();
             }
 
-            // 打包pdf
-            if (param.getIsPagePdf() != null && param.getIsPagePdf()) {
-                // 获取工作信息
-                SimulationManualProjectPO p = simulationManualProjectMapper.selectProjectBaseById(param);
-                final String algorithmName = algorithmMapper.selectAlgorithmNameByAlgorithmId(spo.getAlgorithm());
 
-                pdfFile = new File(param.getLocalPdfFilePath());
-                FileInputStream fileInputStream = new FileInputStream(pdfFile);
-                BufferedInputStream in = new BufferedInputStream(fileInputStream);
-                ZipEntry entry = new ZipEntry(rootPath + File.separator + algorithmName + "评价报告.pdf");
+            if (CollectionUtil.isNotEmpty(referenceLibData)) {
+                String tempPath = rootPath + File.separator + "基准场景库.csv";
+                FileWriter referenceLibWriter = new FileWriter(tempPath);
+                referenceLibWriter.write("场景名称,主车动作,他车动作,天气,道路类型,道路几何-平面,道路几何-纵断面,支持智驾功能,运行区域,场景描述,标签,复杂度,复杂度等级,危险度,危险度等级,算法得分\n");
+                for (SceneReferenceLibPO tempPo : referenceLibData) {
+                    getReferenceLibLabel(tempPo);
+                    String[] tempStr = new String[16];
+                    SceneComplexityPO sceneComplexityPO = firstComplexityPOMap.get(tempPo.getSceneId());
+                    SceneRiskPO sceneRiskPO = firstRiskPOMap.get(tempPo.getSceneId());
+                    tempStr[0] = tempPo.getSceneName();
+                    tempStr[1] = tempPo.getMainBehavior();
+                    tempStr[2] = tempPo.getOtherBehavior();
+                    tempStr[3] = tempPo.getWeather();
+                    tempStr[4] = tempPo.getRoadType();
+                    tempStr[5] = tempPo.getRoadGeometryPlane();
+                    tempStr[6] = tempPo.getRoadGeometryVertical();
+                    tempStr[7] = tempPo.getAutoDriveFunction();
+                    tempStr[8] = tempPo.getOperationArea();
+                    tempStr[9] = tempPo.getSceneDescription();
+                    tempStr[10] = tempPo.getLabel();
+                    tempStr[11] = sceneComplexityPO == null ? null : sceneComplexityPO.getComplexity();
+                    tempStr[12] = sceneComplexityPO == null ? null : sceneComplexityPO.getComplexityLevel();
+                    tempStr[13] = sceneRiskPO == null ? null : sceneRiskPO.getRisk();
+                    tempStr[14] = sceneRiskPO == null ? null : sceneRiskPO.getRiskLevel();
+                    tempStr[15] = String.valueOf(scoreMap.get(tempPo.getSceneId()));
+                    referenceLibWriter.write(Arrays.toString(tempStr));
+                }
+                referenceLibWriter.close();
+                ZipEntry entry = new ZipEntry(tempPath);
                 zos.putNextEntry(entry);
+                BufferedInputStream in = new BufferedInputStream(Files.newInputStream(Paths.get(tempPath)));
                 while ((len = in.read(buffer)) != -1) {
                     zos.write(buffer, 0, len);
                 }
                 in.close();
             }
+            zos.close();
+        } catch (Exception ex) {
+            log.error("下载失败", ex);
+        }
+    }
 
-        } catch (Exception e) {
-            e.printStackTrace();
-        } finally {
-            try {
-                if (zos != null) {
-                    zos.close();
-                }
-                if (pdfFile != null) {
-                    pdfFile.delete();
-                }
-            } catch (IOException e) {
-                e.printStackTrace();
+    private void getAccidentLabel(SceneAccidentPO po) {
+        if (po.getConflictBehavior().contains("追尾")) {
+            po.setLabel("追尾");
+        }
+        if (po.getTargetDriving().contains("切入")) {
+            if (ObjectUtil.isNull(po.getLabel())) {
+                po.setLabel("目标车切入");
+            } else {
+                po.setLabel(po.getLabel() + ",目标车切入");
+            }
+
+        }
+        if (po.getTargetDriving().contains("沿弯道行驶")) {
+            if (ObjectUtil.isNull(po.getLabel())) {
+                po.setLabel("目标车沿弯道行驶");
+            } else {
+                po.setLabel(po.getLabel() + ",目标车沿弯道行驶");
+            }
+
+        }
+        if (po.getConflictType().contains("机动车-机动车")) {
+            if (ObjectUtil.isNull(po.getLabel())) {
+                po.setLabel("机动车-机动车冲突");
+            } else {
+                po.setLabel(po.getLabel() + ",机动车-机动车冲突");
+            }
+        }
+    }
+
+    private void getReferenceLibLabel(SceneReferenceLibPO po) {
+        if (po.getRoadType().equals("高速")) {
+            if (ObjectUtil.isNull(po.getLabel())) {
+                po.setLabel("高速");
+            } else {
+                po.setLabel(po.getLabel() + ",高速");
+            }
+        }
+        if (po.getOtherBehavior().contains("机动车从左侧切入成功") || po.getOtherBehavior().contains("机动车从右侧切入成功")) {
+            if (ObjectUtil.isNull(po.getLabel())) {
+                po.setLabel("切入");
+            } else {
+                po.setLabel(po.getLabel() + ",切入");
+            }
+        }
+        if (po.getOtherBehavior().equals("机动车向左侧切出成功") || po.getOtherBehavior().equals("机动车向右侧切出成功")) {
+            if (ObjectUtil.isNull(po.getLabel())) {
+                po.setLabel("切出");
+            } else {
+                po.setLabel(po.getLabel() + ",切出");
+            }
+        }
+        if (po.getMainBehavior().contains("直路掉头") || po.getMainBehavior().contains("路口掉头")) {
+            if (ObjectUtil.isNull(po.getLabel())) {
+                po.setLabel("掉头");
+            } else {
+                po.setLabel(po.getLabel() + ",掉头");
             }
+        }
+        if (po.getMainBehavior().contains("向左变道成功") || po.getMainBehavior().equals("向右变道成功") || po.getMainBehavior().contains("向左连续变道") || po.getMainBehavior().indexOf("向右连续变道") > -1 || po.getMainBehavior().indexOf("向左变道超车") > -1 || po.getMainBehavior().indexOf("向右变道超车") > -1) {
+            if (ObjectUtil.isNull(po.getLabel())) {
+                po.setLabel("变道");
+            } else {
+                po.setLabel(po.getLabel() + ",变道");
+            }
+        }
+    }
 
+    private void getNaturalLabel(SceneNaturalPO sceneNaturalPO) {
+        if (sceneNaturalPO.getRoadType().equals("高速")) {
+            if (ObjectUtil.isNull(sceneNaturalPO.getLabel())) {
+                sceneNaturalPO.setLabel("高速");
+            } else {
+                sceneNaturalPO.setLabel(sceneNaturalPO.getLabel() + ",高速");
+            }
+        }
+        if (sceneNaturalPO.getRamp().equals("是")) {
+            if (ObjectUtil.isNull(sceneNaturalPO.getLabel())) {
+                sceneNaturalPO.setLabel("匝道");
+            } else {
+                sceneNaturalPO.setLabel(sceneNaturalPO.getLabel() + ",匝道");
+            }
+        }
+        if (sceneNaturalPO.getTunnel().equals("是")) {
+            if (ObjectUtil.isNull(sceneNaturalPO.getLabel())) {
+                sceneNaturalPO.setLabel("隧道");
+            } else {
+                sceneNaturalPO.setLabel(sceneNaturalPO.getLabel() + ",隧道");
+            }
+        }
+        if (sceneNaturalPO.getTargetBehavior().contains("机动车从左侧切入成功") || sceneNaturalPO.getTargetBehavior().contains("机动车从右侧切入成功")) {
+            if (ObjectUtil.isNull(sceneNaturalPO.getLabel())) {
+                sceneNaturalPO.setLabel("切入");
+            } else {
+                sceneNaturalPO.setLabel(sceneNaturalPO.getLabel() + ",切入");
+            }
+        }
+        if (sceneNaturalPO.getTargetBehavior().equals("机动车向左侧切出成功") || sceneNaturalPO.getTargetBehavior().equals("机动车向右侧切出成功")) {
+            if (ObjectUtil.isNull(sceneNaturalPO.getLabel())) {
+                sceneNaturalPO.setLabel("切出");
+            } else {
+                sceneNaturalPO.setLabel(sceneNaturalPO.getLabel() + ",切出");
+            }
+        }
+        if (sceneNaturalPO.getSelfBehavior().contains("直路掉头") || sceneNaturalPO.getSelfBehavior().contains("路口掉头")) {
+            if (ObjectUtil.isNull(sceneNaturalPO.getLabel())) {
+                sceneNaturalPO.setLabel("掉头");
+            } else {
+                sceneNaturalPO.setLabel(sceneNaturalPO.getLabel() + ",掉头");
+            }
+        }
+        if (sceneNaturalPO.getSelfBehavior().contains("向左变道成功") || sceneNaturalPO.getSelfBehavior().equals("向右变道成功") || sceneNaturalPO.getSelfBehavior().contains("向左连续变道") || sceneNaturalPO.getSelfBehavior().indexOf("向右连续变道") > -1 || sceneNaturalPO.getSelfBehavior().indexOf("向左变道超车") > -1 || sceneNaturalPO.getSelfBehavior().indexOf("向右变道超车") > -1) {
+            if (ObjectUtil.isNull(sceneNaturalPO.getLabel())) {
+                sceneNaturalPO.setLabel("变道");
+            } else {
+                sceneNaturalPO.setLabel(sceneNaturalPO.getLabel() + ",变道");
+            }
         }
     }