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@@ -13,6 +13,7 @@ import scipy.integrate as spi
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from collections import defaultdict
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from typing import Dict, Any, List, Optional
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from pathlib import Path
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+import ast
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from modules.lib.score import Score
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from modules.lib.log_manager import LogManager
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@@ -391,7 +392,7 @@ class SafetyCalculator:
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ego_decel_lat_max = self.data_processed.vehicle_config["EGO_DECEL_LAT_MAX"]
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ego_decel_max = np.sqrt(ego_decel_lon_max ** 2 + ego_decel_lat_max ** 2)
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#TEMP_COMMENT: x_relative_start_dist 注释开始
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- #x_relative_start_dist = self.ego_df["x_relative_start_dist"]
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+ x_relative_start_dist = self.ego_df["x_relative_dist"]
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# 设置安全指标阈值
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self.safety_thresholds = {
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@@ -413,6 +414,8 @@ class SafetyCalculator:
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df_list = []
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EGO_PLAYER_ID = 1
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+ ramp_poss = self.ego_df[self.ego_df["link_type"] == 19]["link_coords"].drop_duplicates().tolist() # 寻找匝道的位置坐标
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+ lane_poss = self.ego_df[self.ego_df["lane_type"] == 2]["lane_coords"].drop_duplicates().tolist() # 寻找匝道的位置坐标
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for frame_num in self.frame_list:
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ego_data = obj_dict[frame_num][EGO_PLAYER_ID]
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v1 = ego_data['v']
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@@ -491,7 +494,7 @@ class SafetyCalculator:
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TLC = self._cal_TLC(v1, h1, laneOffset)
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TTB = self._cal_TTB(x_relative_start_dist, relative_v, ego_decel_max)
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TM = self._cal_TM(x_relative_start_dist, v2, a2, v1, a1)
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- DTC = self._cal_DTC(vrel_projection_in_dist, arel_projection_in_dist, driver_reaction_time)
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+ DTC = self._cal_DTC(vrel_projection_in_dist, arel_projection_in_dist, rho)
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# MPrTTC = self._cal_MPrTTC(x_relative_start_dist)
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# PET = self._cal_PET(lane_posx1, lane_posy1, lane_posx2, lane_posy2, ramp_posx1, ramp_posy1, ramp_posx2, ramp_posy2, ego_posx, ego_posy, obj_posx, obj_posy, lane_width, delta_t, v1, v2, a1, a2)
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PET = None
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