修改了一些本地跑出现的bug

modules/metric/safety.py

@@ -13,6 +13,7 @@ import scipy.integrate as spi
 from collections import defaultdict
 from typing import Dict, Any, List, Optional
 from pathlib import Path
+import ast
 
 from modules.lib.score import Score
 from modules.lib.log_manager import LogManager
@@ -391,7 +392,7 @@ class SafetyCalculator:
         ego_decel_lat_max = self.data_processed.vehicle_config["EGO_DECEL_LAT_MAX"]
         ego_decel_max = np.sqrt(ego_decel_lon_max ** 2 + ego_decel_lat_max ** 2)
         #TEMP_COMMENT: x_relative_start_dist 注释开始
-        #x_relative_start_dist = self.ego_df["x_relative_start_dist"]
+        x_relative_start_dist = self.ego_df["x_relative_dist"]
         
         # 设置安全指标阈值
         self.safety_thresholds = {
@@ -413,6 +414,8 @@ class SafetyCalculator:
         df_list = []
         EGO_PLAYER_ID = 1
 
+        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
+        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
         for frame_num in self.frame_list:
             ego_data = obj_dict[frame_num][EGO_PLAYER_ID]
             v1 = ego_data['v']
@@ -491,7 +494,7 @@ class SafetyCalculator:
                 TLC = self._cal_TLC(v1, h1, laneOffset)
                 TTB = self._cal_TTB(x_relative_start_dist, relative_v, ego_decel_max)
                 TM = self._cal_TM(x_relative_start_dist, v2, a2, v1, a1)
-                DTC = self._cal_DTC(vrel_projection_in_dist, arel_projection_in_dist, driver_reaction_time)
+                DTC = self._cal_DTC(vrel_projection_in_dist, arel_projection_in_dist, rho)
                 # MPrTTC = self._cal_MPrTTC(x_relative_start_dist)
                 # 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)
                 PET = None