[2025-03-13 10:20:14,678][INFO][MainThread][evaluator_enhanced.py:63] 成功加载配置: config/metrics_config.yaml [2025-03-13 10:20:14,680][INFO][MainThread][evaluator_enhanced.py:63] 成功加载配置: config/custom_metrics_config.yaml [2025-03-13 10:20:15,320][INFO][MainThread][evaluator_enhanced.py:152] 已加载内置指标模块: safety, comfort, traffic, efficient, function [2025-03-13 10:20:15,321][INFO][MainThread][evaluator_enhanced.py:217] 成功加载基于函数的自定义指标: user.safeTime.CustomTTC [2025-03-13 10:20:15,321][INFO][MainThread][evaluator_enhanced.py:210] 成功加载基于类的自定义指标: safety.safeTime.CustomTTC [2025-03-13 10:20:15,321][INFO][MainThread][evaluator_enhanced.py:177] 已加载 2 个自定义指标模块 [2025-03-13 10:20:15,403][INFO][MainThread][evaluator_enhanced.py:541] 开始评估: zhaoyuan1 [2025-03-13 10:20:15,403][INFO][ThreadPoolExecutor-0_0][safety.py:61] 评比的安全指标列表:['TTC', 'MTTC', 'THW', 'LonSD', 'LatSD', 'BTN', 'collisionRisk', 'collisionSeverity'] [2025-03-13 10:20:15,403][WARNING][ThreadPoolExecutor-0_0][safety.py:72] 未实现安全指标函数: calculate_lonsd [2025-03-13 10:20:15,404][WARNING][ThreadPoolExecutor-0_0][safety.py:72] 未实现安全指标函数: calculate_latsd [2025-03-13 10:20:15,404][WARNING][ThreadPoolExecutor-0_0][safety.py:72] 未实现安全指标函数: calculate_btn [2025-03-13 10:20:15,404][WARNING][ThreadPoolExecutor-0_0][safety.py:72] 未实现安全指标函数: calculate_collisionrisk [2025-03-13 10:20:15,404][WARNING][ThreadPoolExecutor-0_0][safety.py:72] 未实现安全指标函数: calculate_collisionseverity [2025-03-13 10:20:15,404][INFO][ThreadPoolExecutor-0_0][safety.py:85] 安全指标计算结果:{'TTC': 3.5, 'MTTC': 4.2, 'THW': 2.1} [2025-03-13 10:20:15,404][INFO][ThreadPoolExecutor-0_0][comfort.py:130] 评比的舒适性指标列表:['Weaving', 'shake', 'cadence', 'slamBrake', 'slamAccelerate'] [2025-03-13 10:20:15,404][ERROR][ThreadPoolExecutor-0_0][comfort.py:140] 未实现指标函数: Weaving [2025-03-13 10:20:15,409][INFO][ThreadPoolExecutor-0_2][efficient.py:107] 评比的高效性指标列表:['maxSpeed', 'deviationSpeed', 'averagedSpeed', 'stopDuration'] [2025-03-13 10:20:15,410][INFO][ThreadPoolExecutor-0_2][efficient.py:130] 高效性指标计算结果:{'maxSpeed': 8.703239044229454, 'deviationSpeed': 0.3138584310683918, 'averagedSpeed': 8.309570502484434, 'stopDuration': 0.0, 'stopCount': 0} [2025-03-13 10:20:15,411][INFO][ThreadPoolExecutor-0_2][function.py:113] 评比的功能指标列表:['latestWarningDistance_TTC', 'latestWarningDistance'] [2025-03-13 10:20:15,431][INFO][ThreadPoolExecutor-0_2][function.py:138] 功能指标计算结果:{'latestWarningDistance_TTC': 8.133015002166669, 'latestWarningDistance': 90.33440987988091} [2025-03-13 10:20:15,501][INFO][ThreadPoolExecutor-0_0][comfort.py:153] 舒适性指标计算结果:{'shake': 0.0, 'cadence': 0.0, 'slamBrake': 0.0, 'slamAccelerate': 0.0} [2025-03-13 10:20:15,513][INFO][MainThread][evaluator_enhanced.py:361] 计算自定义指标: user.safeTime.CustomTTC [2025-03-13 10:20:15,514][INFO][MainThread][evaluator_enhanced.py:361] 计算自定义指标: safety.safeTime.CustomTTC [2025-03-13 10:20:15,514][INFO][MainThread][score.py:38] 模块名称：safety [2025-03-13 10:20:15,514][INFO][MainThread][score.py:39] 模块配置：{'name': 'safety', 'priority': 0, 'safeTime': {'name': 'safetime', 'priority': 0, 'TTC': {'name': 'TTC', 'priority': 0, 'max': 2000.0, 'min': 2.86}, 'MTTC': {'name': 'MTTC', 'priority': 0, 'max': 2000.0, 'min': 3.0}, 'THW': {'name': 'THW', 'priority': 0, 'max': 2000.0, 'min': 1.5}, 'CustomTTC': {'name': 'CustomTTC', 'priority': 0, 'max': 20.0, 'min': 3.5}}, 'safeDistance': {'name': 'safeDistance', 'priority': 0, 'LonSD': {'name': 'LonSD', 'priority': 0, 'max': 2000.0, 'min': 10.0}, 'LatSD': {'name': 'LatSD', 'priority': 0, 'max': 2000.0, 'min': 2.0}}, 'safeAcceleration': {'name': 'safeAcceleration', 'priority': 0, 'BTN': {'name': 'BTN', 'priority': 0, 'max': 1.0, 'min': -2000.0}}, 'safeProbability': {'name': 'safeProbability', 'priority': 0, 'collisionRisk': {'name': 'collisionRisk', 'priority': 0, 'max': 10.0, 'min': 0.0}, 'collisionSeverity': {'name': 'collisionSeverity', 'priority': 0, 'max': 10.0, 'min': 0.0}}} [2025-03-13 10:20:15,514][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5} [2025-03-13 10:20:15,514][INFO][MainThread][score.py:38] 模块名称：comfort [2025-03-13 10:20:15,514][INFO][MainThread][score.py:39] 模块配置：{'name': 'comfort', 'priority': 0, 'comfortLat': {'name': 'comfortLat', 'priority': 0, 'Weaving': {'name': 'Weaving', 'priority': 0, 'max': 0, 'min': 0}, 'shake': {'name': 'shake', 'priority': 0, 'max': 0, 'min': 0}}, 'comfortLon': {'name': 'comfortLon', 'priority': 0, 'cadence': {'name': 'cadence', 'priority': 0, 'max': 0, 'min': 0}, 'slamBrake': {'name': 'slamBrake', 'priority': 0, 'max': 0, 'min': 0}, 'slamAccelerate': {'name': 'slamAccelerate', 'priority': 0, 'max': 0, 'min': 0}}} [2025-03-13 10:20:15,514][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5} [2025-03-13 10:20:15,514][INFO][MainThread][score.py:38] 模块名称：traffic [2025-03-13 10:20:15,514][INFO][MainThread][score.py:39] 模块配置：{'name': 'traffic', 'priority': 0, 'majorViolation': {'name': 'majorViolation', 'priority': 0, 'urbanExpresswayOrHighwaySpeedOverLimit50': {'name': 'urbanExpresswayOrHighwaySpeedOverLimit50', 'priority': 0, 'max': 0, 'min': 0}, 'urbanExpresswayOrHighwayReverse': {'name': 'higwayreverse', 'priority': 0, 'max': 0, 'min': 0}, 'urbanExpresswayOrHighwayDrivingAgainst': {'name': 'higwayDrivingAgainst', 'priority': 0, 'max': 0, 'min': 0}}, 'seriousViolation': {'name': 'seriousViolation', 'priority': 0, 'urbanExpresswayOrHighwayDrivingLaneStopped': {'name': 'urbanExpresswayOrHighwayDrivingLaneStopped', 'priority': 0, 'max': 0, 'min': 0}, 'urbanExpresswayOrHighwayEmergencyLaneStopped': {'name': 'highwayEmergencyLaneStopped', 'priority': 0, 'max': 0, 'min': 0}}, 'dangerousViolation': {'name': 'dangerousViolation', 'priority': 0, 'urbanExpresswayEmergencyLaneDriving': {'name': 'urbanExpresswayEmergencyLaneDriving', 'priority': 0, 'max': 0, 'min': 0}, 'trafficSignalViolation': {'name': 'trafficSignalViolation', 'priority': 0, 'max': 0, 'min': 0}, 'urbanExpresswayOrHighwaySpeedOverLimit20to50': {'name': 'urbanExpresswayOrHighwaySpeedOverLimit20to50', 'priority': 0, 'max': 0, 'min': 0}, 'generalRoadSpeedOverLimit50': {'name': 'generalRoadSpeedOverLimit50', 'priority': 0, 'max': 0, 'min': 0}}, 'generalViolation': {'name': 'generalViolation', 'priority': 0, 'generalRoadSpeedOverLimit20to50': {'name': 'generalRoadSpeedOverLimit20to50', 'priority': 0, 'max': 0, 'min': 0}, 'urbanExpresswayOrHighwaySpeedUnderLimit': {'name': 'UrbanExpresswayOrHighwaySpeedUnderLimit', 'priority': 0, 'max': 0, 'min': 0}, 'illegalDrivingOrParkingAtCrossroads': {'name': 'illegalDrivingOrParkingAtCrossroads', 'priority': 0, 'max': 0, 'min': 0}, 'overtake_on_right': {'name': 'overtake_on_right', 'priority': 0, 'max': 0, 'min': 0}, 'overtake_when_turn_around': {'name': 'overtake_when_turn_around', 'priority': 0, 'max': 0, 'min': 0}, 'overtake_when_passing_car': {'name': 'overtake_when_passing_car', 'priority': 0, 'max': 0, 'min': 0}, 'overtake_in_forbid_lane': {'name': 'overtake_in_forbid_lane', 'priority': 0, 'max': 0, 'min': 0}, 'overtake_in_ramp': {'name': 'overtake_in_ramp', 'priority': 0, 'max': 0, 'min': 0}, 'overtake_in_tunnel': {'name': 'overtake_in_tunnel', 'priority': 0, 'max': 0, 'min': 0}, 'overtake_on_accelerate_lane': {'name': 'overtake_on_accelerate_lane', 'priority': 0, 'max': 0, 'min': 0}, 'overtake_on_decelerate_lane': {'name': 'overtake_on_decelerate_lane', 'priority': 0, 'max': 0, 'min': 0}, 'overtake_in_different_senerios': {'name': 'overtake_in_different_senerios', 'priority': 0, 'max': 0, 'min': 0}, 'slow_down_in_crosswalk': {'name': 'slow_down_in_crosswalk', 'priority': 0, 'max': 0, 'min': 0}, 'avoid_pedestrian_in_crosswalk': {'name': 'avoid_pedestrian_in_crosswalk', 'priority': 0, 'max': 0, 'min': 0}, 'avoid_pedestrian_in_the_road': {'name': 'avoid_pedestrian_in_the_road', 'priority': 0, 'max': 0, 'min': 0}, 'aviod_pedestrian_when_turning': {'name': 'aviod_pedestrian_when_turning', 'priority': 0, 'max': 0, 'min': 0}, 'NoStraightThrough': {'name': 'NoStraightThrough', 'priority': 0, 'max': 0, 'min': 0}, 'SpeedLimitViolation': {'name': 'SpeedLimitViolation', 'priority': 0, 'max': 0, 'min': 0}, 'MinimumSpeedLimitViolation': {'name': 'MinimumSpeedLimitViolation', 'priority': 0, 'max': 0, 'min': 0}}, 'minorViolation': {'name': 'minorViolation', 'priority': 0, 'noUTurnViolation': {'name': 'noUTurnViolation', 'priority': 0, 'max': 0, 'min': 0}}, 'warningViolation': {'name': 'warningViolation', 'priority': 0, 'urbanExpresswayOrHighwaySpeedOverLimit0to20': {'name': 'urbanExpresswayOrHighwaySpeedOverLimit0to20', 'priority': 0, 'max': 0, 'min': 0}, 'urbanExpresswayOrHighwayRideLaneDivider': {'name': 'urbanExpresswayOrHighwayRideLaneDivider', 'priority': 0, 'max': 0, 'min': 0}, 'generalRoadIrregularLaneUse': {'name': 'generalRoadIrregularLaneUse', 'priority': 0, 'max': 0, 'min': 0}}} [2025-03-13 10:20:15,514][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5} [2025-03-13 10:20:15,515][INFO][MainThread][score.py:38] 模块名称：efficient [2025-03-13 10:20:15,515][INFO][MainThread][score.py:39] 模块配置：{'name': 'efficient', 'priority': 0, 'drivingMode': {'name': 'drivingMode', 'priority': 0, 'max_speed': {'name': 'maxSpeed', 'priority': 0, 'max': 0.0, 'min': 0.0}, 'devation_speed': {'name': 'deviationSpeed', 'priority': 0, 'max': 0.0, 'min': 0.0}, 'averagedSpeed': {'name': 'averagedSpeed', 'priority': 0, 'max': 80.0, 'min': 30.0}}, 'parkingMode': {'name': 'parkingMode', 'priority': 0, 'stopDuration': {'name': 'stopDuration', 'priority': 0, 'max': 1, 'min': 0}}} [2025-03-13 10:20:15,515][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5} [2025-03-13 10:20:15,515][INFO][MainThread][score.py:38] 模块名称：function [2025-03-13 10:20:15,515][INFO][MainThread][score.py:39] 模块配置：{'name': 'function', 'priority': 0, 'LKA': {'name': 'LKA', 'priority': 0, 'latestWarningDistance_TTC': {'name': 'latestWarningDistance_TTC', 'priority': 0, 'max': 5, 'min': 1.98}, 'latestWarningDistance': {'name': 'latestWarningDistance', 'priority': 0, 'max': 150, 'min': 0}}} [2025-03-13 10:20:15,515][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5} [2025-03-13 10:20:15,515][INFO][MainThread][score.py:38] 模块名称：user [2025-03-13 10:20:15,515][INFO][MainThread][score.py:39] 模块配置：{'name': 'user', 'priority': 0, 'safeTime': {'name': 'safetime', 'priority': 0, 'CustomTTC': {'name': 'CustomTTC', 'priority': 0, 'max': 20.0, 'min': 3.5}}} [2025-03-13 10:20:15,515][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5} [2025-03-13 10:20:15,515][INFO][MainThread][evaluator_enhanced.py:545] 评估完成，耗时: 0.11秒 [2025-03-13 10:20:15,516][INFO][MainThread][evaluator_enhanced.py:572] 评估报告已生成: reports/zhaoyuan1_report.json [2025-03-27 15:29:46,520][INFO][MainThread][evaluator_enhanced.py:56] Split configs: custom metrics saved to config/custom_metrics_config.yaml [2025-03-27 15:29:46,534][INFO][MainThread][evaluator_enhanced.py:133] Loaded config: config/metrics_config.yaml [2025-03-27 15:29:46,535][INFO][MainThread][evaluator_enhanced.py:133] Loaded config: config/custom_metrics_config.yaml [2025-03-27 15:29:47,180][INFO][MainThread][evaluator_enhanced.py:203] Loaded builtin metrics: safety, comfort, traffic, efficient, function [2025-03-27 15:29:47,181][INFO][MainThread][evaluator_enhanced.py:263] Loaded function-based custom metric: user.safeTime.CustomTTC [2025-03-27 15:29:47,190][INFO][MainThread][evaluator_enhanced.py:257] Loaded class-based custom metric: safety.safeTime.CustomTTC [2025-03-27 15:29:47,190][INFO][MainThread][evaluator_enhanced.py:228] Loaded 2 custom metric modules [2025-03-27 15:29:47,271][INFO][MainThread][evaluator_enhanced.py:515] Start evaluation: zhaoyuan1 [2025-03-27 15:29:47,271][INFO][ThreadPoolExecutor-0_0][safety.py:61] 评比的安全指标列表:['TTC', 'MTTC', 'THW', 'LonSD', 'LatSD', 'BTN', 'collisionRisk', 'collisionSeverity'] [2025-03-27 15:29:47,271][WARNING][ThreadPoolExecutor-0_0][safety.py:72] 未实现安全指标函数: calculate_lonsd [2025-03-27 15:29:47,271][WARNING][ThreadPoolExecutor-0_0][safety.py:72] 未实现安全指标函数: calculate_latsd [2025-03-27 15:29:47,271][WARNING][ThreadPoolExecutor-0_0][safety.py:72] 未实现安全指标函数: calculate_btn [2025-03-27 15:29:47,271][WARNING][ThreadPoolExecutor-0_0][safety.py:72] 未实现安全指标函数: calculate_collisionrisk [2025-03-27 15:29:47,271][WARNING][ThreadPoolExecutor-0_0][safety.py:72] 未实现安全指标函数: calculate_collisionseverity [2025-03-27 15:29:47,271][INFO][ThreadPoolExecutor-0_0][safety.py:85] 安全指标计算结果:{'TTC': 3.5, 'MTTC': 4.2, 'THW': 2.1} [2025-03-27 15:29:47,271][INFO][ThreadPoolExecutor-0_0][comfort.py:130] 评比的舒适性指标列表:['Weaving', 'shake', 'cadence', 'slamBrake', 'slamAccelerate'] [2025-03-27 15:29:47,271][ERROR][ThreadPoolExecutor-0_0][comfort.py:140] 未实现指标函数: Weaving [2025-03-27 15:29:47,273][INFO][ThreadPoolExecutor-0_2][efficient.py:107] 评比的高效性指标列表:['maxSpeed', 'deviationSpeed', 'averagedSpeed', 'stopDuration'] [2025-03-27 15:29:47,274][INFO][ThreadPoolExecutor-0_2][efficient.py:130] 高效性指标计算结果:{'maxSpeed': 8.703239044229454, 'deviationSpeed': 0.3138584310683918, 'averagedSpeed': 8.309570502484434, 'stopDuration': 0.0, 'stopCount': 0} [2025-03-27 15:29:47,275][INFO][ThreadPoolExecutor-0_2][function.py:113] 评比的功能指标列表:['latestWarningDistance_TTC', 'latestWarningDistance'] [2025-03-27 15:29:47,277][INFO][ThreadPoolExecutor-0_2][function.py:138] 功能指标计算结果:{'latestWarningDistance_TTC': 8.133015002166669, 'latestWarningDistance': 90.33440987988091} [2025-03-27 15:29:47,349][INFO][ThreadPoolExecutor-0_0][comfort.py:153] 舒适性指标计算结果:{'shake': 0.0, 'cadence': 0.0, 'slamBrake': 0.0, 'slamAccelerate': 0.0} [2025-03-27 15:29:47,363][INFO][MainThread][evaluator_enhanced.py:373] Calculated custom metric: user.safeTime.CustomTTC [2025-03-27 15:29:47,363][INFO][MainThread][evaluator_enhanced.py:373] Calculated custom metric: safety.safeTime.CustomTTC [2025-03-27 15:29:47,363][INFO][MainThread][score.py:38] 模块名称：safety [2025-03-27 15:29:47,363][INFO][MainThread][score.py:39] 模块配置：{'name': 'safety', 'priority': 0, 'safeTime': {'name': 'safetime', 'priority': 0, 'TTC': {'name': 'TTC', 'priority': 0, 'max': 2000.0, 'min': 2.86}, 'MTTC': {'name': 'MTTC', 'priority': 0, 'max': 2000.0, 'min': 3.0}, 'THW': {'name': 'THW', 'priority': 0, 'max': 2000.0, 'min': 1.5}, 'CustomTTC': {'name': 'CustomTTC', 'priority': 0, 'max': 20.0, 'min': 3.5}}, 'safeDistance': {'name': 'safeDistance', 'priority': 0, 'LonSD': {'name': 'LonSD', 'priority': 0, 'max': 2000.0, 'min': 10.0}, 'LatSD': {'name': 'LatSD', 'priority': 0, 'max': 2000.0, 'min': 2.0}}, 'safeAcceleration': {'name': 'safeAcceleration', 'priority': 0, 'BTN': {'name': 'BTN', 'priority': 0, 'max': 1.0, 'min': -2000.0}}, 'safeProbability': {'name': 'safeProbability', 'priority': 0, 'collisionRisk': {'name': 'collisionRisk', 'priority': 0, 'max': 10.0, 'min': 0.0}, 'collisionSeverity': {'name': 'collisionSeverity', 'priority': 0, 'max': 10.0, 'min': 0.0}}} [2025-03-27 15:29:47,363][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5} [2025-03-27 15:29:47,363][INFO][MainThread][score.py:38] 模块名称：comfort [2025-03-27 15:29:47,363][INFO][MainThread][score.py:39] 模块配置：{'name': 'comfort', 'priority': 0, 'comfortLat': {'name': 'comfortLat', 'priority': 0, 'Weaving': {'name': 'Weaving', 'priority': 0, 'max': 0, 'min': 0}, 'shake': {'name': 'shake', 'priority': 0, 'max': 0, 'min': 0}}, 'comfortLon': {'name': 'comfortLon', 'priority': 0, 'cadence': {'name': 'cadence', 'priority': 0, 'max': 0, 'min': 0}, 'slamBrake': {'name': 'slamBrake', 'priority': 0, 'max': 0, 'min': 0}, 'slamAccelerate': {'name': 'slamAccelerate', 'priority': 0, 'max': 0, 'min': 0}}} [2025-03-27 15:29:47,363][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5} [2025-03-27 15:29:47,363][INFO][MainThread][score.py:38] 模块名称：traffic [2025-03-27 15:29:47,363][INFO][MainThread][score.py:39] 模块配置：{'name': 'traffic', 'priority': 0, 'majorViolation': {'name': 'majorViolation', 'priority': 0, 'urbanExpresswayOrHighwaySpeedOverLimit50': {'name': 'urbanExpresswayOrHighwaySpeedOverLimit50', 'priority': 0, 'max': 0, 'min': 0}, 'urbanExpresswayOrHighwayReverse': {'name': 'higwayreverse', 'priority': 0, 'max': 0, 'min': 0}, 'urbanExpresswayOrHighwayDrivingAgainst': {'name': 'higwayDrivingAgainst', 'priority': 0, 'max': 0, 'min': 0}}, 'seriousViolation': {'name': 'seriousViolation', 'priority': 0, 'urbanExpresswayOrHighwayDrivingLaneStopped': {'name': 'urbanExpresswayOrHighwayDrivingLaneStopped', 'priority': 0, 'max': 0, 'min': 0}, 'urbanExpresswayOrHighwayEmergencyLaneStopped': {'name': 'highwayEmergencyLaneStopped', 'priority': 0, 'max': 0, 'min': 0}}, 'dangerousViolation': {'name': 'dangerousViolation', 'priority': 0, 'urbanExpresswayEmergencyLaneDriving': {'name': 'urbanExpresswayEmergencyLaneDriving', 'priority': 0, 'max': 0, 'min': 0}, 'trafficSignalViolation': {'name': 'trafficSignalViolation', 'priority': 0, 'max': 0, 'min': 0}, 'urbanExpresswayOrHighwaySpeedOverLimit20to50': {'name': 'urbanExpresswayOrHighwaySpeedOverLimit20to50', 'priority': 0, 'max': 0, 'min': 0}, 'generalRoadSpeedOverLimit50': {'name': 'generalRoadSpeedOverLimit50', 'priority': 0, 'max': 0, 'min': 0}}, 'generalViolation': {'name': 'generalViolation', 'priority': 0, 'generalRoadSpeedOverLimit20to50': {'name': 'generalRoadSpeedOverLimit20to50', 'priority': 0, 'max': 0, 'min': 0}, 'urbanExpresswayOrHighwaySpeedUnderLimit': {'name': 'UrbanExpresswayOrHighwaySpeedUnderLimit', 'priority': 0, 'max': 0, 'min': 0}, 'illegalDrivingOrParkingAtCrossroads': {'name': 'illegalDrivingOrParkingAtCrossroads', 'priority': 0, 'max': 0, 'min': 0}, 'overtake_on_right': {'name': 'overtake_on_right', 'priority': 0, 'max': 0, 'min': 0}, 'overtake_when_turn_around': {'name': 'overtake_when_turn_around', 'priority': 0, 'max': 0, 'min': 0}, 'overtake_when_passing_car': {'name': 'overtake_when_passing_car', 'priority': 0, 'max': 0, 'min': 0}, 'overtake_in_forbid_lane': {'name': 'overtake_in_forbid_lane', 'priority': 0, 'max': 0, 'min': 0}, 'overtake_in_ramp': {'name': 'overtake_in_ramp', 'priority': 0, 'max': 0, 'min': 0}, 'overtake_in_tunnel': {'name': 'overtake_in_tunnel', 'priority': 0, 'max': 0, 'min': 0}, 'overtake_on_accelerate_lane': {'name': 'overtake_on_accelerate_lane', 'priority': 0, 'max': 0, 'min': 0}, 'overtake_on_decelerate_lane': {'name': 'overtake_on_decelerate_lane', 'priority': 0, 'max': 0, 'min': 0}, 'overtake_in_different_senerios': {'name': 'overtake_in_different_senerios', 'priority': 0, 'max': 0, 'min': 0}, 'slow_down_in_crosswalk': {'name': 'slow_down_in_crosswalk', 'priority': 0, 'max': 0, 'min': 0}, 'avoid_pedestrian_in_crosswalk': {'name': 'avoid_pedestrian_in_crosswalk', 'priority': 0, 'max': 0, 'min': 0}, 'avoid_pedestrian_in_the_road': {'name': 'avoid_pedestrian_in_the_road', 'priority': 0, 'max': 0, 'min': 0}, 'aviod_pedestrian_when_turning': {'name': 'aviod_pedestrian_when_turning', 'priority': 0, 'max': 0, 'min': 0}, 'NoStraightThrough': {'name': 'NoStraightThrough', 'priority': 0, 'max': 0, 'min': 0}, 'SpeedLimitViolation': {'name': 'SpeedLimitViolation', 'priority': 0, 'max': 0, 'min': 0}, 'MinimumSpeedLimitViolation': {'name': 'MinimumSpeedLimitViolation', 'priority': 0, 'max': 0, 'min': 0}}, 'minorViolation': {'name': 'minorViolation', 'priority': 0, 'noUTurnViolation': {'name': 'noUTurnViolation', 'priority': 0, 'max': 0, 'min': 0}}, 'warningViolation': {'name': 'warningViolation', 'priority': 0, 'urbanExpresswayOrHighwaySpeedOverLimit0to20': {'name': 'urbanExpresswayOrHighwaySpeedOverLimit0to20', 'priority': 0, 'max': 0, 'min': 0}, 'urbanExpresswayOrHighwayRideLaneDivider': {'name': 'urbanExpresswayOrHighwayRideLaneDivider', 'priority': 0, 'max': 0, 'min': 0}, 'generalRoadIrregularLaneUse': {'name': 'generalRoadIrregularLaneUse', 'priority': 0, 'max': 0, 'min': 0}}} [2025-03-27 15:29:47,363][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5} [2025-03-27 15:29:47,364][INFO][MainThread][score.py:38] 模块名称：efficient [2025-03-27 15:29:47,364][INFO][MainThread][score.py:39] 模块配置：{'name': 'efficient', 'priority': 0, 'drivingMode': {'name': 'drivingMode', 'priority': 0, 'max_speed': {'name': 'maxSpeed', 'priority': 0, 'max': 0.0, 'min': 0.0}, 'devation_speed': {'name': 'deviationSpeed', 'priority': 0, 'max': 0.0, 'min': 0.0}, 'averagedSpeed': {'name': 'averagedSpeed', 'priority': 0, 'max': 80.0, 'min': 30.0}}, 'parkingMode': {'name': 'parkingMode', 'priority': 0, 'stopDuration': {'name': 'stopDuration', 'priority': 0, 'max': 1, 'min': 0}}} [2025-03-27 15:29:47,364][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5} [2025-03-27 15:29:47,364][INFO][MainThread][score.py:38] 模块名称：function [2025-03-27 15:29:47,364][INFO][MainThread][score.py:39] 模块配置：{'name': 'function', 'priority': 0, 'LKA': {'name': 'LKA', 'priority': 0, 'latestWarningDistance_TTC': {'name': 'latestWarningDistance_TTC', 'priority': 0, 'max': 5, 'min': 1.98}, 'latestWarningDistance': {'name': 'latestWarningDistance', 'priority': 0, 'max': 150, 'min': 0}}} [2025-03-27 15:29:47,364][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5} [2025-03-27 15:29:47,364][INFO][MainThread][score.py:38] 模块名称：user [2025-03-27 15:29:47,364][INFO][MainThread][score.py:39] 模块配置：{'name': 'user', 'priority': 0, 'safeTime': {'name': 'safetime', 'priority': 0, 'CustomTTC': {'name': 'CustomTTC', 'priority': 0, 'max': 20.0, 'min': 3.5}}} [2025-03-27 15:29:47,364][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5} [2025-03-27 15:29:47,364][INFO][MainThread][evaluator_enhanced.py:519] Evaluation completed, time: 0.09s [2025-03-27 15:29:47,365][INFO][MainThread][evaluator_enhanced.py:542] Report generated: reports/zhaoyuan1_report.json [2025-04-10 10:51:19,462][INFO][MainThread][evaluator_optimized.py:102] 成功加载内置指标配置: D:\Cicv\招远\zhaoyuan0410\config\metrics_config.yaml [2025-04-10 10:51:19,463][INFO][MainThread][evaluator_optimized.py:112] 成功加载自定义指标配置: D:\Cicv\招远\zhaoyuan0410\test\custom_metrics_config.yaml [2025-04-10 10:51:20,728][WARNING][MainThread][evaluator_optimized.py:199] 自定义指标脚本 metric_safety_safeTime_CustomTTC.py 缺少 evaluate 函数 [2025-04-10 10:51:20,729][INFO][MainThread][evaluator_optimized.py:205] 成功加载自定义指标脚本: metric_user_safeTime_CustomTTC.py [2025-04-10 10:51:20,811][INFO][ThreadPoolExecutor-0_0][safety.py:61] 评比的安全指标列表:['TTC', 'MTTC', 'THW', 'LonSD', 'LatSD', 'BTN', 'collisionRisk', 'collisionSeverity'] [2025-04-10 10:51:20,811][WARNING][ThreadPoolExecutor-0_0][safety.py:72] 未实现安全指标函数: calculate_lonsd [2025-04-10 10:51:20,811][WARNING][ThreadPoolExecutor-0_0][safety.py:72] 未实现安全指标函数: calculate_latsd [2025-04-10 10:51:20,811][WARNING][ThreadPoolExecutor-0_0][safety.py:72] 未实现安全指标函数: calculate_btn [2025-04-10 10:51:20,811][WARNING][ThreadPoolExecutor-0_0][safety.py:72] 未实现安全指标函数: calculate_collisionrisk [2025-04-10 10:51:20,811][WARNING][ThreadPoolExecutor-0_0][safety.py:72] 未实现安全指标函数: calculate_collisionseverity [2025-04-10 10:51:20,811][INFO][ThreadPoolExecutor-0_0][safety.py:85] 安全指标计算结果:{'TTC': 3.5, 'MTTC': 4.2, 'THW': 2.1} [2025-04-10 10:51:20,812][INFO][ThreadPoolExecutor-0_0][comfort.py:130] 评比的舒适性指标列表:['Weaving', 'shake', 'cadence', 'slamBrake', 'slamAccelerate'] [2025-04-10 10:51:20,812][ERROR][ThreadPoolExecutor-0_0][comfort.py:140] 未实现指标函数: Weaving [2025-04-10 10:51:20,813][INFO][ThreadPoolExecutor-0_2][efficient.py:107] 评比的高效性指标列表:['maxSpeed', 'deviationSpeed', 'averagedSpeed', 'stopDuration'] [2025-04-10 10:51:20,813][INFO][ThreadPoolExecutor-0_3][function.py:113] 评比的功能指标列表:['latestWarningDistance_TTC', 'latestWarningDistance'] [2025-04-10 10:51:20,814][INFO][ThreadPoolExecutor-0_3][function.py:138] 功能指标计算结果:{'latestWarningDistance_TTC': 0.0, 'latestWarningDistance': 0.0} [2025-04-10 10:51:20,814][INFO][MainThread][score.py:38] 模块名称：safety [2025-04-10 10:51:20,814][INFO][MainThread][score.py:39] 模块配置：{'name': 'safety', 'priority': 0, 'safeTime': {'name': 'safetime', 'priority': 0, 'TTC': {'name': 'TTC', 'priority': 0, 'max': 2000.0, 'min': 2.86}, 'MTTC': {'name': 'MTTC', 'priority': 0, 'max': 2000.0, 'min': 3.0}, 'THW': {'name': 'THW', 'priority': 0, 'max': 2000.0, 'min': 1.5}, 'CustomTTC': {'name': 'CustomTTC', 'priority': 0, 'max': 20.0, 'min': 3.5}}, 'safeDistance': {'name': 'safeDistance', 'priority': 0, 'LonSD': {'name': 'LonSD', 'priority': 0, 'max': 2000.0, 'min': 10.0}, 'LatSD': {'name': 'LatSD', 'priority': 0, 'max': 2000.0, 'min': 2.0}}, 'safeAcceleration': {'name': 'safeAcceleration', 'priority': 0, 'BTN': {'name': 'BTN', 'priority': 0, 'max': 1.0, 'min': -2000.0}}, 'safeProbability': {'name': 'safeProbability', 'priority': 0, 'collisionRisk': {'name': 'collisionRisk', 'priority': 0, 'max': 10.0, 'min': 0.0}, 'collisionSeverity': {'name': 'collisionSeverity', 'priority': 0, 'max': 10.0, 'min': 0.0}}} [2025-04-10 10:51:20,814][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5} [2025-04-10 10:51:20,816][INFO][ThreadPoolExecutor-0_2][efficient.py:130] 高效性指标计算结果:{'maxSpeed': 8.668800378368394, 'deviationSpeed': 12.149959384308875, 'averagedSpeed': 4.871614395631655, 'stopDuration': 2.7199997901916504, 'stopCount': 1} [2025-04-10 10:51:20,830][INFO][MainThread][score.py:38] 模块名称：comfort [2025-04-10 10:51:20,830][INFO][MainThread][score.py:39] 模块配置：{'name': 'comfort', 'priority': 0, 'comfortLat': {'name': 'comfortLat', 'priority': 0, 'Weaving': {'name': 'Weaving', 'priority': 0, 'max': 0, 'min': 0}, 'shake': {'name': 'shake', 'priority': 0, 'max': 0, 'min': 0}}, 'comfortLon': {'name': 'comfortLon', 'priority': 0, 'cadence': {'name': 'cadence', 'priority': 0, 'max': 0, 'min': 0}, 'slamBrake': {'name': 'slamBrake', 'priority': 0, 'max': 0, 'min': 0}, 'slamAccelerate': {'name': 'slamAccelerate', 'priority': 0, 'max': 0, 'min': 0}}} [2025-04-10 10:51:20,830][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5} [2025-04-10 10:51:20,997][ERROR][ThreadPoolExecutor-0_1][evaluator_optimized.py:358] traffic 执行异常: 'OvertakingViolation' object has no attribute 'other_obj_data' Stack (most recent call last): File "D:\Python\Lib\threading.py", line 1030, in _bootstrap self._bootstrap_inner() File "D:\Python\Lib\threading.py", line 1073, in _bootstrap_inner self.run() File "D:\Python\Lib\threading.py", line 1010, in run self._target(*self._args, **self._kwargs) File "D:\Python\Lib\concurrent\futures\thread.py", line 92, in _worker work_item.run() File "D:\Python\Lib\concurrent\futures\thread.py", line 58, in run result = self.fn(*self.args, **self.kwargs) File "D:\Cicv\招远\zhaoyuan0410\scripts\evaluator_optimized.py", line 358, in _run_module self.logger.error(f"{module_name} 执行异常: {str(e)}", stack_info=True) [2025-04-10 10:51:21,134][INFO][ThreadPoolExecutor-0_0][comfort.py:153] 舒适性指标计算结果:{'shake': 2.0, 'cadence': 0.0, 'slamBrake': 0.0, 'slamAccelerate': 0.0} [2025-04-10 10:51:21,134][INFO][MainThread][score.py:38] 模块名称：traffic [2025-04-10 10:51:21,134][INFO][MainThread][score.py:39] 模块配置：{'name': 'traffic', 'priority': 0, 'majorViolation': {'name': 'majorViolation', 'priority': 0, 'urbanExpresswayOrHighwaySpeedOverLimit50': {'name': 'urbanExpresswayOrHighwaySpeedOverLimit50', 'priority': 0, 'max': 0, 'min': 0}, 'urbanExpresswayOrHighwayReverse': {'name': 'higwayreverse', 'priority': 0, 'max': 0, 'min': 0}, 'urbanExpresswayOrHighwayDrivingAgainst': {'name': 'higwayDrivingAgainst', 'priority': 0, 'max': 0, 'min': 0}}, 'seriousViolation': {'name': 'seriousViolation', 'priority': 0, 'urbanExpresswayOrHighwayDrivingLaneStopped': {'name': 'urbanExpresswayOrHighwayDrivingLaneStopped', 'priority': 0, 'max': 0, 'min': 0}, 'urbanExpresswayOrHighwayEmergencyLaneStopped': {'name': 'highwayEmergencyLaneStopped', 'priority': 0, 'max': 0, 'min': 0}}, 'dangerousViolation': {'name': 'dangerousViolation', 'priority': 0, 'urbanExpresswayEmergencyLaneDriving': {'name': 'urbanExpresswayEmergencyLaneDriving', 'priority': 0, 'max': 0, 'min': 0}, 'trafficSignalViolation': {'name': 'trafficSignalViolation', 'priority': 0, 'max': 0, 'min': 0}, 'urbanExpresswayOrHighwaySpeedOverLimit20to50': {'name': 'urbanExpresswayOrHighwaySpeedOverLimit20to50', 'priority': 0, 'max': 0, 'min': 0}, 'generalRoadSpeedOverLimit50': {'name': 'generalRoadSpeedOverLimit50', 'priority': 0, 'max': 0, 'min': 0}}, 'generalViolation': {'name': 'generalViolation', 'priority': 0, 'generalRoadSpeedOverLimit20to50': {'name': 'generalRoadSpeedOverLimit20to50', 'priority': 0, 'max': 0, 'min': 0}, 'urbanExpresswayOrHighwaySpeedUnderLimit': {'name': 'UrbanExpresswayOrHighwaySpeedUnderLimit', 'priority': 0, 'max': 0, 'min': 0}, 'illegalDrivingOrParkingAtCrossroads': {'name': 'illegalDrivingOrParkingAtCrossroads', 'priority': 0, 'max': 0, 'min': 0}, 'overtake_on_right': {'name': 'overtake_on_right', 'priority': 0, 'max': 0, 'min': 0}, 'overtake_when_turn_around': {'name': 'overtake_when_turn_around', 'priority': 0, 'max': 0, 'min': 0}, 'overtake_when_passing_car': {'name': 'overtake_when_passing_car', 'priority': 0, 'max': 0, 'min': 0}, 'overtake_in_forbid_lane': {'name': 'overtake_in_forbid_lane', 'priority': 0, 'max': 0, 'min': 0}, 'overtake_in_ramp': {'name': 'overtake_in_ramp', 'priority': 0, 'max': 0, 'min': 0}, 'overtake_in_tunnel': {'name': 'overtake_in_tunnel', 'priority': 0, 'max': 0, 'min': 0}, 'overtake_on_accelerate_lane': {'name': 'overtake_on_accelerate_lane', 'priority': 0, 'max': 0, 'min': 0}, 'overtake_on_decelerate_lane': {'name': 'overtake_on_decelerate_lane', 'priority': 0, 'max': 0, 'min': 0}, 'overtake_in_different_senerios': {'name': 'overtake_in_different_senerios', 'priority': 0, 'max': 0, 'min': 0}, 'slow_down_in_crosswalk': {'name': 'slow_down_in_crosswalk', 'priority': 0, 'max': 0, 'min': 0}, 'avoid_pedestrian_in_crosswalk': {'name': 'avoid_pedestrian_in_crosswalk', 'priority': 0, 'max': 0, 'min': 0}, 'avoid_pedestrian_in_the_road': {'name': 'avoid_pedestrian_in_the_road', 'priority': 0, 'max': 0, 'min': 0}, 'aviod_pedestrian_when_turning': {'name': 'aviod_pedestrian_when_turning', 'priority': 0, 'max': 0, 'min': 0}, 'NoStraightThrough': {'name': 'NoStraightThrough', 'priority': 0, 'max': 0, 'min': 0}, 'SpeedLimitViolation': {'name': 'SpeedLimitViolation', 'priority': 0, 'max': 0, 'min': 0}, 'MinimumSpeedLimitViolation': {'name': 'MinimumSpeedLimitViolation', 'priority': 0, 'max': 0, 'min': 0}}, 'minorViolation': {'name': 'minorViolation', 'priority': 0, 'noUTurnViolation': {'name': 'noUTurnViolation', 'priority': 0, 'max': 0, 'min': 0}}, 'warningViolation': {'name': 'warningViolation', 'priority': 0, 'urbanExpresswayOrHighwaySpeedOverLimit0to20': {'name': 'urbanExpresswayOrHighwaySpeedOverLimit0to20', 'priority': 0, 'max': 0, 'min': 0}, 'urbanExpresswayOrHighwayRideLaneDivider': {'name': 'urbanExpresswayOrHighwayRideLaneDivider', 'priority': 0, 'max': 0, 'min': 0}, 'generalRoadIrregularLaneUse': {'name': 'generalRoadIrregularLaneUse', 'priority': 0, 'max': 0, 'min': 0}}} [2025-04-10 10:51:21,134][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5} [2025-04-10 10:51:21,138][INFO][MainThread][score.py:38] 模块名称：efficient [2025-04-10 10:51:21,138][INFO][MainThread][score.py:39] 模块配置：{'name': 'efficient', 'priority': 0, 'drivingMode': {'name': 'drivingMode', 'priority': 0, 'max_speed': {'name': 'maxSpeed', 'priority': 0, 'max': 0.0, 'min': 0.0}, 'devation_speed': {'name': 'deviationSpeed', 'priority': 0, 'max': 0.0, 'min': 0.0}, 'averagedSpeed': {'name': 'averagedSpeed', 'priority': 0, 'max': 80.0, 'min': 30.0}}, 'parkingMode': {'name': 'parkingMode', 'priority': 0, 'stopDuration': {'name': 'stopDuration', 'priority': 0, 'max': 1, 'min': 0}}} [2025-04-10 10:51:21,138][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5} [2025-04-10 10:51:21,138][INFO][MainThread][score.py:38] 模块名称：function [2025-04-10 10:51:21,138][INFO][MainThread][score.py:39] 模块配置：{'name': 'function', 'priority': 0, 'LKA': {'name': 'LKA', 'priority': 0, 'latestWarningDistance_TTC': {'name': 'latestWarningDistance_TTC', 'priority': 0, 'max': 5, 'min': 1.98}, 'latestWarningDistance': {'name': 'latestWarningDistance', 'priority': 0, 'max': 150, 'min': 0}}} [2025-04-10 10:51:21,138][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5} [2025-04-10 10:51:21,138][INFO][MainThread][score.py:38] 模块名称：user [2025-04-10 10:51:21,138][INFO][MainThread][score.py:39] 模块配置：{'name': 'user', 'priority': 0, 'safeTime': {'name': 'safetime', 'priority': 0, 'CustomTTC': {'name': 'CustomTTC', 'priority': 0, 'max': 20.0, 'min': 3.5}}} [2025-04-10 10:51:21,138][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5} [2025-04-10 10:51:21,138][INFO][MainThread][evaluator_optimized.py:328] 评测自定义指标: user.safetime.CustomTTC [2025-04-10 10:51:21,140][INFO][MainThread][evaluator_optimized.py:424] 评估报告已生成: D:\Cicv\招远\zhaoyuan0410\result\招远_report.json [2025-04-14 14:05:39,067][INFO][MainThread][evaluator_optimized.py:102] 成功加载内置指标配置: D:\Cicv\招远\zhaoyuan0410\config\metrics_config.yaml [2025-04-14 14:05:39,073][INFO][MainThread][evaluator_optimized.py:112] 成功加载自定义指标配置: D:\Cicv\招远\zhaoyuan0410\test\custom_metrics_config.yaml [2025-04-14 14:05:40,313][WARNING][MainThread][evaluator_optimized.py:199] 自定义指标脚本 metric_safety_safeTime_CustomTTC.py 缺少 evaluate 函数 [2025-04-14 14:05:40,313][INFO][MainThread][evaluator_optimized.py:205] 成功加载自定义指标脚本: metric_user_safeTime_CustomTTC.py [2025-04-14 14:05:40,542][INFO][ThreadPoolExecutor-0_0][safety.py:61] 评比的安全指标列表:['TTC', 'MTTC', 'THW', 'LonSD', 'LatSD', 'BTN', 'collisionRisk', 'collisionSeverity'] [2025-04-14 14:05:40,542][WARNING][ThreadPoolExecutor-0_0][safety.py:72] 未实现安全指标函数: calculate_lonsd [2025-04-14 14:05:40,542][WARNING][ThreadPoolExecutor-0_0][safety.py:72] 未实现安全指标函数: calculate_latsd [2025-04-14 14:05:40,542][WARNING][ThreadPoolExecutor-0_0][safety.py:72] 未实现安全指标函数: calculate_btn [2025-04-14 14:05:40,542][WARNING][ThreadPoolExecutor-0_0][safety.py:72] 未实现安全指标函数: calculate_collisionrisk [2025-04-14 14:05:40,542][WARNING][ThreadPoolExecutor-0_0][safety.py:72] 未实现安全指标函数: calculate_collisionseverity [2025-04-14 14:05:40,542][INFO][ThreadPoolExecutor-0_0][safety.py:85] 安全指标计算结果:{'TTC': 3.5, 'MTTC': 4.2, 'THW': 2.1} [2025-04-14 14:05:40,542][INFO][ThreadPoolExecutor-0_1][comfort.py:130] 评比的舒适性指标列表:['Weaving', 'shake', 'cadence', 'slamBrake', 'slamAccelerate'] [2025-04-14 14:05:40,542][ERROR][ThreadPoolExecutor-0_1][comfort.py:140] 未实现指标函数: Weaving [2025-04-14 14:05:40,556][INFO][ThreadPoolExecutor-0_2][efficient.py:107] 评比的高效性指标列表:['maxSpeed', 'deviationSpeed', 'averagedSpeed', 'stopDuration'] [2025-04-14 14:05:40,558][INFO][ThreadPoolExecutor-0_3][function.py:113] 评比的功能指标列表:['latestWarningDistance_TTC', 'latestWarningDistance'] [2025-04-14 14:05:40,558][INFO][ThreadPoolExecutor-0_2][efficient.py:130] 高效性指标计算结果:{'maxSpeed': 8.668800378368394, 'deviationSpeed': 12.149959384308875, 'averagedSpeed': 4.871614395631655, 'stopDuration': 2.7199997901916504, 'stopCount': 1} [2025-04-14 14:05:40,558][INFO][MainThread][score.py:38] 模块名称：safety [2025-04-14 14:05:40,558][INFO][MainThread][score.py:39] 模块配置：{'name': 'safety', 'priority': 0, 'safeTime': {'name': 'safetime', 'priority': 0, 'TTC': {'name': 'TTC', 'priority': 0, 'max': 2000.0, 'min': 2.86}, 'MTTC': {'name': 'MTTC', 'priority': 0, 'max': 2000.0, 'min': 3.0}, 'THW': {'name': 'THW', 'priority': 0, 'max': 2000.0, 'min': 1.5}, 'CustomTTC': {'name': 'CustomTTC', 'priority': 0, 'max': 20.0, 'min': 3.5}}, 'safeDistance': {'name': 'safeDistance', 'priority': 0, 'LonSD': {'name': 'LonSD', 'priority': 0, 'max': 2000.0, 'min': 10.0}, 'LatSD': {'name': 'LatSD', 'priority': 0, 'max': 2000.0, 'min': 2.0}}, 'safeAcceleration': {'name': 'safeAcceleration', 'priority': 0, 'BTN': {'name': 'BTN', 'priority': 0, 'max': 1.0, 'min': -2000.0}}, 'safeProbability': {'name': 'safeProbability', 'priority': 0, 'collisionRisk': {'name': 'collisionRisk', 'priority': 0, 'max': 10.0, 'min': 0.0}, 'collisionSeverity': {'name': 'collisionSeverity', 'priority': 0, 'max': 10.0, 'min': 0.0}}} [2025-04-14 14:05:40,558][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5} [2025-04-14 14:05:40,558][INFO][ThreadPoolExecutor-0_3][function.py:138] 功能指标计算结果:{'latestWarningDistance_TTC': 0.0, 'latestWarningDistance': 0.0} [2025-04-14 14:05:40,633][INFO][MainThread][score.py:38] 模块名称：comfort [2025-04-14 14:05:40,633][INFO][MainThread][score.py:39] 模块配置：{'name': 'comfort', 'priority': 0, 'comfortLat': {'name': 'comfortLat', 'priority': 0, 'Weaving': {'name': 'Weaving', 'priority': 0, 'max': 0, 'min': 0}, 'shake': {'name': 'shake', 'priority': 0, 'max': 0, 'min': 0}}, 'comfortLon': {'name': 'comfortLon', 'priority': 0, 'cadence': {'name': 'cadence', 'priority': 0, 'max': 0, 'min': 0}, 'slamBrake': {'name': 'slamBrake', 'priority': 0, 'max': 0, 'min': 0}, 'slamAccelerate': {'name': 'slamAccelerate', 'priority': 0, 'max': 0, 'min': 0}}} [2025-04-14 14:05:40,633][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5} [2025-04-14 14:05:40,663][ERROR][ThreadPoolExecutor-0_0][evaluator_optimized.py:358] traffic 执行异常: 'OvertakingViolation' object has no attribute 'other_obj_data' Stack (most recent call last): File "D:\Python\Lib\threading.py", line 1030, in _bootstrap self._bootstrap_inner() File "D:\Python\Lib\threading.py", line 1073, in _bootstrap_inner self.run() File "D:\Python\Lib\threading.py", line 1010, in run self._target(*self._args, **self._kwargs) File "D:\Python\Lib\concurrent\futures\thread.py", line 92, in _worker work_item.run() File "D:\Python\Lib\concurrent\futures\thread.py", line 58, in run result = self.fn(*self.args, **self.kwargs) File "D:\Cicv\招远\zhaoyuan0410\scripts\evaluator_optimized.py", line 358, in _run_module self.logger.error(f"{module_name} 执行异常: {str(e)}", stack_info=True) [2025-04-14 14:05:42,251][INFO][ThreadPoolExecutor-0_1][comfort.py:153] 舒适性指标计算结果:{'shake': 2.0, 'cadence': 0.0, 'slamBrake': 0.0, 'slamAccelerate': 0.0} [2025-04-14 14:05:42,251][INFO][MainThread][score.py:38] 模块名称：traffic [2025-04-14 14:05:42,251][INFO][MainThread][score.py:39] 模块配置：{'name': 'traffic', 'priority': 0, 'majorViolation': {'name': 'majorViolation', 'priority': 0, 'urbanExpresswayOrHighwaySpeedOverLimit50': {'name': 'urbanExpresswayOrHighwaySpeedOverLimit50', 'priority': 0, 'max': 0, 'min': 0}, 'urbanExpresswayOrHighwayReverse': {'name': 'higwayreverse', 'priority': 0, 'max': 0, 'min': 0}, 'urbanExpresswayOrHighwayDrivingAgainst': {'name': 'higwayDrivingAgainst', 'priority': 0, 'max': 0, 'min': 0}}, 'seriousViolation': {'name': 'seriousViolation', 'priority': 0, 'urbanExpresswayOrHighwayDrivingLaneStopped': {'name': 'urbanExpresswayOrHighwayDrivingLaneStopped', 'priority': 0, 'max': 0, 'min': 0}, 'urbanExpresswayOrHighwayEmergencyLaneStopped': {'name': 'highwayEmergencyLaneStopped', 'priority': 0, 'max': 0, 'min': 0}}, 'dangerousViolation': {'name': 'dangerousViolation', 'priority': 0, 'urbanExpresswayEmergencyLaneDriving': {'name': 'urbanExpresswayEmergencyLaneDriving', 'priority': 0, 'max': 0, 'min': 0}, 'trafficSignalViolation': {'name': 'trafficSignalViolation', 'priority': 0, 'max': 0, 'min': 0}, 'urbanExpresswayOrHighwaySpeedOverLimit20to50': {'name': 'urbanExpresswayOrHighwaySpeedOverLimit20to50', 'priority': 0, 'max': 0, 'min': 0}, 'generalRoadSpeedOverLimit50': {'name': 'generalRoadSpeedOverLimit50', 'priority': 0, 'max': 0, 'min': 0}}, 'generalViolation': {'name': 'generalViolation', 'priority': 0, 'generalRoadSpeedOverLimit20to50': {'name': 'generalRoadSpeedOverLimit20to50', 'priority': 0, 'max': 0, 'min': 0}, 'urbanExpresswayOrHighwaySpeedUnderLimit': {'name': 'UrbanExpresswayOrHighwaySpeedUnderLimit', 'priority': 0, 'max': 0, 'min': 0}, 'illegalDrivingOrParkingAtCrossroads': {'name': 'illegalDrivingOrParkingAtCrossroads', 'priority': 0, 'max': 0, 'min': 0}, 'overtake_on_right': {'name': 'overtake_on_right', 'priority': 0, 'max': 0, 'min': 0}, 'overtake_when_turn_around': {'name': 'overtake_when_turn_around', 'priority': 0, 'max': 0, 'min': 0}, 'overtake_when_passing_car': {'name': 'overtake_when_passing_car', 'priority': 0, 'max': 0, 'min': 0}, 'overtake_in_forbid_lane': {'name': 'overtake_in_forbid_lane', 'priority': 0, 'max': 0, 'min': 0}, 'overtake_in_ramp': {'name': 'overtake_in_ramp', 'priority': 0, 'max': 0, 'min': 0}, 'overtake_in_tunnel': {'name': 'overtake_in_tunnel', 'priority': 0, 'max': 0, 'min': 0}, 'overtake_on_accelerate_lane': {'name': 'overtake_on_accelerate_lane', 'priority': 0, 'max': 0, 'min': 0}, 'overtake_on_decelerate_lane': {'name': 'overtake_on_decelerate_lane', 'priority': 0, 'max': 0, 'min': 0}, 'overtake_in_different_senerios': {'name': 'overtake_in_different_senerios', 'priority': 0, 'max': 0, 'min': 0}, 'slow_down_in_crosswalk': {'name': 'slow_down_in_crosswalk', 'priority': 0, 'max': 0, 'min': 0}, 'avoid_pedestrian_in_crosswalk': {'name': 'avoid_pedestrian_in_crosswalk', 'priority': 0, 'max': 0, 'min': 0}, 'avoid_pedestrian_in_the_road': {'name': 'avoid_pedestrian_in_the_road', 'priority': 0, 'max': 0, 'min': 0}, 'aviod_pedestrian_when_turning': {'name': 'aviod_pedestrian_when_turning', 'priority': 0, 'max': 0, 'min': 0}, 'NoStraightThrough': {'name': 'NoStraightThrough', 'priority': 0, 'max': 0, 'min': 0}, 'SpeedLimitViolation': {'name': 'SpeedLimitViolation', 'priority': 0, 'max': 0, 'min': 0}, 'MinimumSpeedLimitViolation': {'name': 'MinimumSpeedLimitViolation', 'priority': 0, 'max': 0, 'min': 0}}, 'minorViolation': {'name': 'minorViolation', 'priority': 0, 'noUTurnViolation': {'name': 'noUTurnViolation', 'priority': 0, 'max': 0, 'min': 0}}, 'warningViolation': {'name': 'warningViolation', 'priority': 0, 'urbanExpresswayOrHighwaySpeedOverLimit0to20': {'name': 'urbanExpresswayOrHighwaySpeedOverLimit0to20', 'priority': 0, 'max': 0, 'min': 0}, 'urbanExpresswayOrHighwayRideLaneDivider': {'name': 'urbanExpresswayOrHighwayRideLaneDivider', 'priority': 0, 'max': 0, 'min': 0}, 'generalRoadIrregularLaneUse': {'name': 'generalRoadIrregularLaneUse', 'priority': 0, 'max': 0, 'min': 0}}} [2025-04-14 14:05:42,251][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5} [2025-04-14 14:05:42,251][INFO][MainThread][score.py:38] 模块名称：efficient [2025-04-14 14:05:42,251][INFO][MainThread][score.py:39] 模块配置：{'name': 'efficient', 'priority': 0, 'drivingMode': {'name': 'drivingMode', 'priority': 0, 'max_speed': {'name': 'maxSpeed', 'priority': 0, 'max': 0.0, 'min': 0.0}, 'devation_speed': {'name': 'deviationSpeed', 'priority': 0, 'max': 0.0, 'min': 0.0}, 'averagedSpeed': {'name': 'averagedSpeed', 'priority': 0, 'max': 80.0, 'min': 30.0}}, 'parkingMode': {'name': 'parkingMode', 'priority': 0, 'stopDuration': {'name': 'stopDuration', 'priority': 0, 'max': 1, 'min': 0}}} [2025-04-14 14:05:42,251][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5} [2025-04-14 14:05:42,251][INFO][MainThread][score.py:38] 模块名称：function [2025-04-14 14:05:42,251][INFO][MainThread][score.py:39] 模块配置：{'name': 'function', 'priority': 0, 'LKA': {'name': 'LKA', 'priority': 0, 'latestWarningDistance_TTC': {'name': 'latestWarningDistance_TTC', 'priority': 0, 'max': 5, 'min': 1.98}, 'latestWarningDistance': {'name': 'latestWarningDistance', 'priority': 0, 'max': 150, 'min': 0}}} [2025-04-14 14:05:42,251][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5} [2025-04-14 14:05:42,251][INFO][MainThread][score.py:38] 模块名称：user [2025-04-14 14:05:42,251][INFO][MainThread][score.py:39] 模块配置：{'name': 'user', 'priority': 0, 'safeTime': {'name': 'safetime', 'priority': 0, 'CustomTTC': {'name': 'CustomTTC', 'priority': 0, 'max': 20.0, 'min': 3.5}}} [2025-04-14 14:05:42,251][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5} [2025-04-14 14:05:42,251][INFO][MainThread][evaluator_optimized.py:328] 评测自定义指标: user.safetime.CustomTTC [2025-04-16 09:10:56,717][INFO][MainThread][evaluator_optimized.py:102] 成功加载内置指标配置: D:\Cicv\招远\zhaoyuan0410\config\metrics_config.yaml [2025-04-16 09:10:56,718][INFO][MainThread][evaluator_optimized.py:112] 成功加载自定义指标配置: D:\Cicv\招远\zhaoyuan0410\test\custom_metrics_config.yaml [2025-04-16 09:10:57,460][ERROR][MainThread][evaluator_optimized.py:92] 模块加载失败: modules.metric.traffic.ViolationManager - module 'modules.metric.traffic' has no attribute 'ViolationManager' [2025-04-16 09:11:41,057][INFO][MainThread][evaluator_optimized.py:102] 成功加载内置指标配置: D:\Cicv\招远\zhaoyuan0410\config\metrics_config.yaml [2025-04-16 09:11:41,058][INFO][MainThread][evaluator_optimized.py:112] 成功加载自定义指标配置: D:\Cicv\招远\zhaoyuan0410\test\custom_metrics_config.yaml [2025-04-16 09:11:41,392][WARNING][MainThread][evaluator_optimized.py:199] 自定义指标脚本 metric_safety_safeTime_CustomTTC.py 缺少 evaluate 函数 [2025-04-16 09:11:41,393][INFO][MainThread][evaluator_optimized.py:205] 成功加载自定义指标脚本: metric_user_safeTime_CustomTTC.py [2025-04-16 09:11:41,468][INFO][ThreadPoolExecutor-0_0][safety.py:61] 评比的安全指标列表:['TTC', 'MTTC', 'THW', 'LonSD', 'LatSD', 'BTN', 'collisionRisk', 'collisionSeverity'] [2025-04-16 09:11:41,468][WARNING][ThreadPoolExecutor-0_0][safety.py:72] 未实现安全指标函数: calculate_lonsd [2025-04-16 09:11:41,468][WARNING][ThreadPoolExecutor-0_0][safety.py:72] 未实现安全指标函数: calculate_latsd [2025-04-16 09:11:41,468][WARNING][ThreadPoolExecutor-0_0][safety.py:72] 未实现安全指标函数: calculate_btn [2025-04-16 09:11:41,468][WARNING][ThreadPoolExecutor-0_0][safety.py:72] 未实现安全指标函数: calculate_collisionrisk [2025-04-16 09:11:41,468][WARNING][ThreadPoolExecutor-0_0][safety.py:72] 未实现安全指标函数: calculate_collisionseverity [2025-04-16 09:11:41,468][INFO][ThreadPoolExecutor-0_0][safety.py:85] 安全指标计算结果:{'TTC': 3.5, 'MTTC': 4.2, 'THW': 2.1} [2025-04-16 09:11:41,468][INFO][ThreadPoolExecutor-0_0][comfort.py:130] 评比的舒适性指标列表:['Weaving', 'shake', 'cadence', 'slamBrake', 'slamAccelerate'] [2025-04-16 09:11:41,468][ERROR][ThreadPoolExecutor-0_0][comfort.py:140] 未实现指标函数: Weaving [2025-04-16 09:11:41,472][INFO][ThreadPoolExecutor-0_2][efficient.py:107] 评比的高效性指标列表:['maxSpeed', 'deviationSpeed', 'averagedSpeed', 'stopDuration'] [2025-04-16 09:11:41,483][INFO][ThreadPoolExecutor-0_3][function.py:113] 评比的功能指标列表:['latestWarningDistance_TTC', 'latestWarningDistance'] [2025-04-16 09:11:41,484][INFO][ThreadPoolExecutor-0_3][function.py:138] 功能指标计算结果:{'latestWarningDistance_TTC': 0.0, 'latestWarningDistance': 0.0} [2025-04-16 09:11:41,486][INFO][MainThread][score.py:38] 模块名称：safety [2025-04-16 09:11:41,486][INFO][MainThread][score.py:39] 模块配置：{'name': 'safety', 'priority': 0, 'safeTime': {'name': 'safetime', 'priority': 0, 'TTC': {'name': 'TTC', 'priority': 0, 'max': 2000.0, 'min': 2.86}, 'MTTC': {'name': 'MTTC', 'priority': 0, 'max': 2000.0, 'min': 3.0}, 'THW': {'name': 'THW', 'priority': 0, 'max': 2000.0, 'min': 1.5}, 'CustomTTC': {'name': 'CustomTTC', 'priority': 0, 'max': 20.0, 'min': 3.5}}, 'safeDistance': {'name': 'safeDistance', 'priority': 0, 'LonSD': {'name': 'LonSD', 'priority': 0, 'max': 2000.0, 'min': 10.0}, 'LatSD': {'name': 'LatSD', 'priority': 0, 'max': 2000.0, 'min': 2.0}}, 'safeAcceleration': {'name': 'safeAcceleration', 'priority': 0, 'BTN': {'name': 'BTN', 'priority': 0, 'max': 1.0, 'min': -2000.0}}, 'safeProbability': {'name': 'safeProbability', 'priority': 0, 'collisionRisk': {'name': 'collisionRisk', 'priority': 0, 'max': 10.0, 'min': 0.0}, 'collisionSeverity': {'name': 'collisionSeverity', 'priority': 0, 'max': 10.0, 'min': 0.0}}} [2025-04-16 09:11:41,486][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5} [2025-04-16 09:11:41,487][INFO][ThreadPoolExecutor-0_2][efficient.py:130] 高效性指标计算结果:{'maxSpeed': 8.668800378368394, 'deviationSpeed': 12.149959384308875, 'averagedSpeed': 4.871614395631655, 'stopDuration': 2.7199997901916504, 'stopCount': 1} [2025-04-16 09:11:41,487][INFO][MainThread][score.py:38] 模块名称：comfort [2025-04-16 09:11:41,487][INFO][MainThread][score.py:39] 模块配置：{'name': 'comfort', 'priority': 0, 'comfortLat': {'name': 'comfortLat', 'priority': 0, 'Weaving': {'name': 'Weaving', 'priority': 0, 'max': 0, 'min': 0}, 'shake': {'name': 'shake', 'priority': 0, 'max': 0, 'min': 0}}, 'comfortLon': {'name': 'comfortLon', 'priority': 0, 'cadence': {'name': 'cadence', 'priority': 0, 'max': 0, 'min': 0}, 'slamBrake': {'name': 'slamBrake', 'priority': 0, 'max': 0, 'min': 0}, 'slamAccelerate': {'name': 'slamAccelerate', 'priority': 0, 'max': 0, 'min': 0}}} [2025-04-16 09:11:41,487][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5} [2025-04-16 09:11:41,525][ERROR][ThreadPoolExecutor-0_1][evaluator_optimized.py:358] traffic 执行异常: 'OvertakingViolation' object has no attribute 'statistic' Stack (most recent call last): File "D:\Python\Lib\threading.py", line 1030, in _bootstrap self._bootstrap_inner() File "D:\Python\Lib\threading.py", line 1073, in _bootstrap_inner self.run() File "D:\Python\Lib\threading.py", line 1010, in run self._target(*self._args, **self._kwargs) File "D:\Python\Lib\concurrent\futures\thread.py", line 92, in _worker work_item.run() File "D:\Python\Lib\concurrent\futures\thread.py", line 58, in run result = self.fn(*self.args, **self.kwargs) File "D:\Cicv\招远\zhaoyuan0410\scripts\evaluator_optimized.py", line 358, in _run_module self.logger.error(f"{module_name} 执行异常: {str(e)}", stack_info=True) [2025-04-16 09:11:41,779][INFO][ThreadPoolExecutor-0_0][comfort.py:153] 舒适性指标计算结果:{'shake': 2.0, 'cadence': 0.0, 'slamBrake': 0.0, 'slamAccelerate': 0.0} [2025-04-16 09:11:41,780][INFO][MainThread][score.py:38] 模块名称：traffic [2025-04-16 09:11:41,780][INFO][MainThread][score.py:39] 模块配置：{'name': 'traffic', 'priority': 0, 'majorViolation': {'name': 'majorViolation', 'priority': 0, 'urbanExpresswayOrHighwaySpeedOverLimit50': {'name': 'urbanExpresswayOrHighwaySpeedOverLimit50', 'priority': 0, 'max': 0, 'min': 0}, 'urbanExpresswayOrHighwayReverse': {'name': 'higwayreverse', 'priority': 0, 'max': 0, 'min': 0}, 'urbanExpresswayOrHighwayDrivingAgainst': {'name': 'higwayDrivingAgainst', 'priority': 0, 'max': 0, 'min': 0}}, 'seriousViolation': {'name': 'seriousViolation', 'priority': 0, 'urbanExpresswayOrHighwayDrivingLaneStopped': {'name': 'urbanExpresswayOrHighwayDrivingLaneStopped', 'priority': 0, 'max': 0, 'min': 0}, 'urbanExpresswayOrHighwayEmergencyLaneStopped': {'name': 'highwayEmergencyLaneStopped', 'priority': 0, 'max': 0, 'min': 0}}, 'dangerousViolation': {'name': 'dangerousViolation', 'priority': 0, 'urbanExpresswayEmergencyLaneDriving': {'name': 'urbanExpresswayEmergencyLaneDriving', 'priority': 0, 'max': 0, 'min': 0}, 'trafficSignalViolation': {'name': 'trafficSignalViolation', 'priority': 0, 'max': 0, 'min': 0}, 'urbanExpresswayOrHighwaySpeedOverLimit20to50': {'name': 'urbanExpresswayOrHighwaySpeedOverLimit20to50', 'priority': 0, 'max': 0, 'min': 0}, 'generalRoadSpeedOverLimit50': {'name': 'generalRoadSpeedOverLimit50', 'priority': 0, 'max': 0, 'min': 0}}, 'generalViolation': {'name': 'generalViolation', 'priority': 0, 'generalRoadSpeedOverLimit20to50': {'name': 'generalRoadSpeedOverLimit20to50', 'priority': 0, 'max': 0, 'min': 0}, 'urbanExpresswayOrHighwaySpeedUnderLimit': {'name': 'UrbanExpresswayOrHighwaySpeedUnderLimit', 'priority': 0, 'max': 0, 'min': 0}, 'illegalDrivingOrParkingAtCrossroads': {'name': 'illegalDrivingOrParkingAtCrossroads', 'priority': 0, 'max': 0, 'min': 0}, 'overtake_on_right': {'name': 'overtake_on_right', 'priority': 0, 'max': 0, 'min': 0}, 'overtake_when_turn_around': {'name': 'overtake_when_turn_around', 'priority': 0, 'max': 0, 'min': 0}, 'overtake_when_passing_car': {'name': 'overtake_when_passing_car', 'priority': 0, 'max': 0, 'min': 0}, 'overtake_in_forbid_lane': {'name': 'overtake_in_forbid_lane', 'priority': 0, 'max': 0, 'min': 0}, 'overtake_in_ramp': {'name': 'overtake_in_ramp', 'priority': 0, 'max': 0, 'min': 0}, 'overtake_in_tunnel': {'name': 'overtake_in_tunnel', 'priority': 0, 'max': 0, 'min': 0}, 'overtake_on_accelerate_lane': {'name': 'overtake_on_accelerate_lane', 'priority': 0, 'max': 0, 'min': 0}, 'overtake_on_decelerate_lane': {'name': 'overtake_on_decelerate_lane', 'priority': 0, 'max': 0, 'min': 0}, 'overtake_in_different_senerios': {'name': 'overtake_in_different_senerios', 'priority': 0, 'max': 0, 'min': 0}, 'slow_down_in_crosswalk': {'name': 'slow_down_in_crosswalk', 'priority': 0, 'max': 0, 'min': 0}, 'avoid_pedestrian_in_crosswalk': {'name': 'avoid_pedestrian_in_crosswalk', 'priority': 0, 'max': 0, 'min': 0}, 'avoid_pedestrian_in_the_road': {'name': 'avoid_pedestrian_in_the_road', 'priority': 0, 'max': 0, 'min': 0}, 'aviod_pedestrian_when_turning': {'name': 'aviod_pedestrian_when_turning', 'priority': 0, 'max': 0, 'min': 0}, 'NoStraightThrough': {'name': 'NoStraightThrough', 'priority': 0, 'max': 0, 'min': 0}, 'SpeedLimitViolation': {'name': 'SpeedLimitViolation', 'priority': 0, 'max': 0, 'min': 0}, 'MinimumSpeedLimitViolation': {'name': 'MinimumSpeedLimitViolation', 'priority': 0, 'max': 0, 'min': 0}}, 'minorViolation': {'name': 'minorViolation', 'priority': 0, 'noUTurnViolation': {'name': 'noUTurnViolation', 'priority': 0, 'max': 0, 'min': 0}}, 'warningViolation': {'name': 'warningViolation', 'priority': 0, 'urbanExpresswayOrHighwaySpeedOverLimit0to20': {'name': 'urbanExpresswayOrHighwaySpeedOverLimit0to20', 'priority': 0, 'max': 0, 'min': 0}, 'urbanExpresswayOrHighwayRideLaneDivider': {'name': 'urbanExpresswayOrHighwayRideLaneDivider', 'priority': 0, 'max': 0, 'min': 0}, 'generalRoadIrregularLaneUse': {'name': 'generalRoadIrregularLaneUse', 'priority': 0, 'max': 0, 'min': 0}}} [2025-04-16 09:11:41,780][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5} [2025-04-16 09:11:41,782][INFO][MainThread][score.py:38] 模块名称：efficient [2025-04-16 09:11:41,782][INFO][MainThread][score.py:39] 模块配置：{'name': 'efficient', 'priority': 0, 'drivingMode': {'name': 'drivingMode', 'priority': 0, 'max_speed': {'name': 'maxSpeed', 'priority': 0, 'max': 0.0, 'min': 0.0}, 'devation_speed': {'name': 'deviationSpeed', 'priority': 0, 'max': 0.0, 'min': 0.0}, 'averagedSpeed': {'name': 'averagedSpeed', 'priority': 0, 'max': 80.0, 'min': 30.0}}, 'parkingMode': {'name': 'parkingMode', 'priority': 0, 'stopDuration': {'name': 'stopDuration', 'priority': 0, 'max': 1, 'min': 0}}} [2025-04-16 09:11:41,782][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5} [2025-04-16 09:11:41,782][INFO][MainThread][score.py:38] 模块名称：function [2025-04-16 09:11:41,782][INFO][MainThread][score.py:39] 模块配置：{'name': 'function', 'priority': 0, 'LKA': {'name': 'LKA', 'priority': 0, 'latestWarningDistance_TTC': {'name': 'latestWarningDistance_TTC', 'priority': 0, 'max': 5, 'min': 1.98}, 'latestWarningDistance': {'name': 'latestWarningDistance', 'priority': 0, 'max': 150, 'min': 0}}} [2025-04-16 09:11:41,782][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5} [2025-04-16 09:11:41,783][INFO][MainThread][score.py:38] 模块名称：user [2025-04-16 09:11:41,783][INFO][MainThread][score.py:39] 模块配置：{'name': 'user', 'priority': 0, 'safeTime': {'name': 'safetime', 'priority': 0, 'CustomTTC': {'name': 'CustomTTC', 'priority': 0, 'max': 20.0, 'min': 3.5}}} [2025-04-16 09:11:41,783][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5} [2025-04-16 09:11:41,783][INFO][MainThread][evaluator_optimized.py:328] 评测自定义指标: user.safetime.CustomTTC [2025-04-16 09:18:38,048][INFO][MainThread][evaluator_optimized.py:102] 成功加载内置指标配置: D:\Cicv\招远\zhaoyuan0410\config\metrics_config.yaml [2025-04-16 09:18:38,049][INFO][MainThread][evaluator_optimized.py:112] 成功加载自定义指标配置: D:\Cicv\招远\zhaoyuan0410\test\custom_metrics_config.yaml [2025-04-16 09:19:00,642][INFO][MainThread][evaluator_optimized.py:102] 成功加载内置指标配置: D:\Cicv\招远\zhaoyuan0410\config\metrics_config.yaml [2025-04-16 09:19:00,646][INFO][MainThread][evaluator_optimized.py:112] 成功加载自定义指标配置: D:\Cicv\招远\zhaoyuan0410\test\custom_metrics_config.yaml [2025-04-16 09:19:02,009][ERROR][MainThread][evaluator_optimized.py:92] 模块加载失败: modules.metric.traffic.ViolationManager - module 'modules.metric.traffic' has no attribute 'ViolationManager' [2025-04-16 09:19:33,853][INFO][MainThread][evaluator_optimized.py:102] 成功加载内置指标配置: D:\Cicv\招远\zhaoyuan0410\config\metrics_config.yaml [2025-04-16 09:19:33,858][INFO][MainThread][evaluator_optimized.py:112] 成功加载自定义指标配置: D:\Cicv\招远\zhaoyuan0410\test\custom_metrics_config.yaml [2025-04-16 09:20:55,880][INFO][MainThread][evaluator_optimized.py:102] 成功加载内置指标配置: D:\Cicv\招远\zhaoyuan0410\config\metrics_config.yaml [2025-04-16 09:20:55,880][INFO][MainThread][evaluator_optimized.py:112] 成功加载自定义指标配置: D:\Cicv\招远\zhaoyuan0410\test\custom_metrics_config.yaml [2025-04-16 09:20:56,217][WARNING][MainThread][evaluator_optimized.py:199] 自定义指标脚本 metric_safety_safeTime_CustomTTC.py 缺少 evaluate 函数 [2025-04-16 09:20:56,217][INFO][MainThread][evaluator_optimized.py:205] 成功加载自定义指标脚本: metric_user_safeTime_CustomTTC.py [2025-04-16 09:20:56,290][INFO][ThreadPoolExecutor-0_0][safety.py:61] 评比的安全指标列表:['TTC', 'MTTC', 'THW', 'LonSD', 'LatSD', 'BTN', 'collisionRisk', 'collisionSeverity'] [2025-04-16 09:20:56,290][WARNING][ThreadPoolExecutor-0_0][safety.py:72] 未实现安全指标函数: calculate_lonsd [2025-04-16 09:20:56,290][WARNING][ThreadPoolExecutor-0_0][safety.py:72] 未实现安全指标函数: calculate_latsd [2025-04-16 09:20:56,290][WARNING][ThreadPoolExecutor-0_0][safety.py:72] 未实现安全指标函数: calculate_btn [2025-04-16 09:20:56,290][WARNING][ThreadPoolExecutor-0_0][safety.py:72] 未实现安全指标函数: calculate_collisionrisk [2025-04-16 09:20:56,290][WARNING][ThreadPoolExecutor-0_0][safety.py:72] 未实现安全指标函数: calculate_collisionseverity [2025-04-16 09:20:56,290][INFO][ThreadPoolExecutor-0_0][safety.py:85] 安全指标计算结果:{'TTC': 3.5, 'MTTC': 4.2, 'THW': 2.1} [2025-04-16 09:20:56,290][INFO][ThreadPoolExecutor-0_0][comfort.py:130] 评比的舒适性指标列表:['Weaving', 'shake', 'cadence', 'slamBrake', 'slamAccelerate'] [2025-04-16 09:20:56,290][ERROR][ThreadPoolExecutor-0_0][comfort.py:140] 未实现指标函数: Weaving [2025-04-16 09:20:56,291][INFO][ThreadPoolExecutor-0_1][traffic.py:1444] 评比的合规性指标列表:['urbanExpresswayOrHighwaySpeedOverLimit50', 'higwayreverse', 'higwayDrivingAgainst', 'urbanExpresswayOrHighwayDrivingLaneStopped', 'highwayEmergencyLaneStopped', 'urbanExpresswayEmergencyLaneDriving', 'trafficSignalViolation', 'urbanExpresswayOrHighwaySpeedOverLimit20to50', 'generalRoadSpeedOverLimit50', 'generalRoadSpeedOverLimit20to50', 'UrbanExpresswayOrHighwaySpeedUnderLimit', 'illegalDrivingOrParkingAtCrossroads', 'overtake_on_right', 'overtake_when_turn_around', 'overtake_when_passing_car', 'overtake_in_forbid_lane', 'overtake_in_ramp', 'overtake_in_tunnel', 'overtake_on_accelerate_lane', 'overtake_on_decelerate_lane', 'overtake_in_different_senerios', 'slow_down_in_crosswalk', 'avoid_pedestrian_in_crosswalk', 'avoid_pedestrian_in_the_road', 'aviod_pedestrian_when_turning', 'NoStraightThrough', 'SpeedLimitViolation', 'MinimumSpeedLimitViolation', 'noUTurnViolation', 'urbanExpresswayOrHighwaySpeedOverLimit0to20', 'urbanExpresswayOrHighwayRideLaneDivider', 'generalRoadIrregularLaneUse'] [2025-04-16 09:20:56,291][ERROR][ThreadPoolExecutor-0_1][traffic.py:1454] 未实现指标函数: higwayreverse [2025-04-16 09:20:56,291][ERROR][ThreadPoolExecutor-0_1][traffic.py:1454] 未实现指标函数: higwayDrivingAgainst [2025-04-16 09:20:56,291][ERROR][ThreadPoolExecutor-0_1][traffic.py:1454] 未实现指标函数: highwayEmergencyLaneStopped [2025-04-16 09:20:56,291][ERROR][ThreadPoolExecutor-0_1][traffic.py:1454] 未实现指标函数: UrbanExpresswayOrHighwaySpeedUnderLimit [2025-04-16 09:20:56,291][ERROR][ThreadPoolExecutor-0_1][traffic.py:1454] 未实现指标函数: aviod_pedestrian_when_turning [2025-04-16 09:20:56,291][ERROR][ThreadPoolExecutor-0_1][traffic.py:1454] 未实现指标函数: noUTurnViolation [2025-04-16 09:20:56,292][INFO][ThreadPoolExecutor-0_2][efficient.py:107] 评比的高效性指标列表:['maxSpeed', 'deviationSpeed', 'averagedSpeed', 'stopDuration'] [2025-04-16 09:20:56,293][INFO][ThreadPoolExecutor-0_3][function.py:113] 评比的功能指标列表:['latestWarningDistance_TTC', 'latestWarningDistance'] [2025-04-16 09:20:56,293][INFO][MainThread][score.py:38] 模块名称：safety [2025-04-16 09:20:56,294][INFO][MainThread][score.py:39] 模块配置：{'name': 'safety', 'priority': 0, 'safeTime': {'name': 'safetime', 'priority': 0, 'TTC': {'name': 'TTC', 'priority': 0, 'max': 2000.0, 'min': 2.86}, 'MTTC': {'name': 'MTTC', 'priority': 0, 'max': 2000.0, 'min': 3.0}, 'THW': {'name': 'THW', 'priority': 0, 'max': 2000.0, 'min': 1.5}, 'CustomTTC': {'name': 'CustomTTC', 'priority': 0, 'max': 20.0, 'min': 3.5}}, 'safeDistance': {'name': 'safeDistance', 'priority': 0, 'LonSD': {'name': 'LonSD', 'priority': 0, 'max': 2000.0, 'min': 10.0}, 'LatSD': {'name': 'LatSD', 'priority': 0, 'max': 2000.0, 'min': 2.0}}, 'safeAcceleration': {'name': 'safeAcceleration', 'priority': 0, 'BTN': {'name': 'BTN', 'priority': 0, 'max': 1.0, 'min': -2000.0}}, 'safeProbability': {'name': 'safeProbability', 'priority': 0, 'collisionRisk': {'name': 'collisionRisk', 'priority': 0, 'max': 10.0, 'min': 0.0}, 'collisionSeverity': {'name': 'collisionSeverity', 'priority': 0, 'max': 10.0, 'min': 0.0}}} [2025-04-16 09:20:56,294][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5} [2025-04-16 09:20:56,294][INFO][ThreadPoolExecutor-0_3][function.py:138] 功能指标计算结果:{'latestWarningDistance_TTC': 0.0, 'latestWarningDistance': 0.0} [2025-04-16 09:20:56,316][INFO][ThreadPoolExecutor-0_2][efficient.py:130] 高效性指标计算结果:{'maxSpeed': 31.207681362126216, 'deviationSpeed': 157.463473620643, 'averagedSpeed': 17.53781182427396, 'stopDuration': 1.7350000143051147, 'stopCount': 2} [2025-04-16 09:20:56,323][INFO][MainThread][score.py:38] 模块名称：comfort [2025-04-16 09:20:56,323][INFO][MainThread][score.py:39] 模块配置：{'name': 'comfort', 'priority': 0, 'comfortLat': {'name': 'comfortLat', 'priority': 0, 'Weaving': {'name': 'Weaving', 'priority': 0, 'max': 0, 'min': 0}, 'shake': {'name': 'shake', 'priority': 0, 'max': 0, 'min': 0}}, 'comfortLon': {'name': 'comfortLon', 'priority': 0, 'cadence': {'name': 'cadence', 'priority': 0, 'max': 0, 'min': 0}, 'slamBrake': {'name': 'slamBrake', 'priority': 0, 'max': 0, 'min': 0}, 'slamAccelerate': {'name': 'slamAccelerate', 'priority': 0, 'max': 0, 'min': 0}}} [2025-04-16 09:20:56,323][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5} [2025-04-16 09:20:56,622][INFO][ThreadPoolExecutor-0_0][comfort.py:153] 舒适性指标计算结果:{'shake': 2.0, 'cadence': 0.0, 'slamBrake': 1.0, 'slamAccelerate': 1.0} [2025-04-16 09:20:56,624][INFO][MainThread][score.py:38] 模块名称：traffic [2025-04-16 09:20:56,624][INFO][MainThread][score.py:39] 模块配置：{'name': 'traffic', 'priority': 0, 'majorViolation': {'name': 'majorViolation', 'priority': 0, 'urbanExpresswayOrHighwaySpeedOverLimit50': {'name': 'urbanExpresswayOrHighwaySpeedOverLimit50', 'priority': 0, 'max': 0, 'min': 0}, 'urbanExpresswayOrHighwayReverse': {'name': 'higwayreverse', 'priority': 0, 'max': 0, 'min': 0}, 'urbanExpresswayOrHighwayDrivingAgainst': {'name': 'higwayDrivingAgainst', 'priority': 0, 'max': 0, 'min': 0}}, 'seriousViolation': {'name': 'seriousViolation', 'priority': 0, 'urbanExpresswayOrHighwayDrivingLaneStopped': {'name': 'urbanExpresswayOrHighwayDrivingLaneStopped', 'priority': 0, 'max': 0, 'min': 0}, 'urbanExpresswayOrHighwayEmergencyLaneStopped': {'name': 'highwayEmergencyLaneStopped', 'priority': 0, 'max': 0, 'min': 0}}, 'dangerousViolation': {'name': 'dangerousViolation', 'priority': 0, 'urbanExpresswayEmergencyLaneDriving': {'name': 'urbanExpresswayEmergencyLaneDriving', 'priority': 0, 'max': 0, 'min': 0}, 'trafficSignalViolation': {'name': 'trafficSignalViolation', 'priority': 0, 'max': 0, 'min': 0}, 'urbanExpresswayOrHighwaySpeedOverLimit20to50': {'name': 'urbanExpresswayOrHighwaySpeedOverLimit20to50', 'priority': 0, 'max': 0, 'min': 0}, 'generalRoadSpeedOverLimit50': {'name': 'generalRoadSpeedOverLimit50', 'priority': 0, 'max': 0, 'min': 0}}, 'generalViolation': {'name': 'generalViolation', 'priority': 0, 'generalRoadSpeedOverLimit20to50': {'name': 'generalRoadSpeedOverLimit20to50', 'priority': 0, 'max': 0, 'min': 0}, 'urbanExpresswayOrHighwaySpeedUnderLimit': {'name': 'UrbanExpresswayOrHighwaySpeedUnderLimit', 'priority': 0, 'max': 0, 'min': 0}, 'illegalDrivingOrParkingAtCrossroads': {'name': 'illegalDrivingOrParkingAtCrossroads', 'priority': 0, 'max': 0, 'min': 0}, 'overtake_on_right': {'name': 'overtake_on_right', 'priority': 0, 'max': 0, 'min': 0}, 'overtake_when_turn_around': {'name': 'overtake_when_turn_around', 'priority': 0, 'max': 0, 'min': 0}, 'overtake_when_passing_car': {'name': 'overtake_when_passing_car', 'priority': 0, 'max': 0, 'min': 0}, 'overtake_in_forbid_lane': {'name': 'overtake_in_forbid_lane', 'priority': 0, 'max': 0, 'min': 0}, 'overtake_in_ramp': {'name': 'overtake_in_ramp', 'priority': 0, 'max': 0, 'min': 0}, 'overtake_in_tunnel': {'name': 'overtake_in_tunnel', 'priority': 0, 'max': 0, 'min': 0}, 'overtake_on_accelerate_lane': {'name': 'overtake_on_accelerate_lane', 'priority': 0, 'max': 0, 'min': 0}, 'overtake_on_decelerate_lane': {'name': 'overtake_on_decelerate_lane', 'priority': 0, 'max': 0, 'min': 0}, 'overtake_in_different_senerios': {'name': 'overtake_in_different_senerios', 'priority': 0, 'max': 0, 'min': 0}, 'slow_down_in_crosswalk': {'name': 'slow_down_in_crosswalk', 'priority': 0, 'max': 0, 'min': 0}, 'avoid_pedestrian_in_crosswalk': {'name': 'avoid_pedestrian_in_crosswalk', 'priority': 0, 'max': 0, 'min': 0}, 'avoid_pedestrian_in_the_road': {'name': 'avoid_pedestrian_in_the_road', 'priority': 0, 'max': 0, 'min': 0}, 'aviod_pedestrian_when_turning': {'name': 'aviod_pedestrian_when_turning', 'priority': 0, 'max': 0, 'min': 0}, 'NoStraightThrough': {'name': 'NoStraightThrough', 'priority': 0, 'max': 0, 'min': 0}, 'SpeedLimitViolation': {'name': 'SpeedLimitViolation', 'priority': 0, 'max': 0, 'min': 0}, 'MinimumSpeedLimitViolation': {'name': 'MinimumSpeedLimitViolation', 'priority': 0, 'max': 0, 'min': 0}}, 'minorViolation': {'name': 'minorViolation', 'priority': 0, 'noUTurnViolation': {'name': 'noUTurnViolation', 'priority': 0, 'max': 0, 'min': 0}}, 'warningViolation': {'name': 'warningViolation', 'priority': 0, 'urbanExpresswayOrHighwaySpeedOverLimit0to20': {'name': 'urbanExpresswayOrHighwaySpeedOverLimit0to20', 'priority': 0, 'max': 0, 'min': 0}, 'urbanExpresswayOrHighwayRideLaneDivider': {'name': 'urbanExpresswayOrHighwayRideLaneDivider', 'priority': 0, 'max': 0, 'min': 0}, 'generalRoadIrregularLaneUse': {'name': 'generalRoadIrregularLaneUse', 'priority': 0, 'max': 0, 'min': 0}}} [2025-04-16 09:20:56,624][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5} [2025-04-16 09:20:57,473][ERROR][ThreadPoolExecutor-0_1][traffic.py:1465] NoStraightThrough 执行失败: 'sign_speed' Traceback (most recent call last): File "D:\Python\Lib\site-packages\pandas\core\indexes\base.py", line 3805, in get_loc return self._engine.get_loc(casted_key) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ File "index.pyx", line 167, in pandas._libs.index.IndexEngine.get_loc File "index.pyx", line 196, in pandas._libs.index.IndexEngine.get_loc File "pandas\\_libs\\hashtable_class_helper.pxi", line 7081, in pandas._libs.hashtable.PyObjectHashTable.get_item File "pandas\\_libs\\hashtable_class_helper.pxi", line 7089, in pandas._libs.hashtable.PyObjectHashTable.get_item KeyError: 'sign_speed' The above exception was the direct cause of the following exception: Traceback (most recent call last): File "D:\Cicv\招远\zhaoyuan0410\modules\metric\traffic.py", line 1462, in batch_execute result = func(self.data) ^^^^^^^^^^^^^^^ File "D:\Cicv\招远\zhaoyuan0410\modules\metric\traffic.py", line 1338, in NoStraightThrough NoStraightThrough_count = trafficsignviolation.calculate_NoStraightThrough_count() ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ File "D:\Cicv\招远\zhaoyuan0410\modules\metric\traffic.py", line 1406, in calculate_NoStraightThrough_count self.checkForProhibitionViolation() File "D:\Cicv\招远\zhaoyuan0410\modules\metric\traffic.py", line 1395, in checkForProhibitionViolation mask = self.data_ego["v"] > self.data_ego["sign_speed"] ~~~~~~~~~~~~~^^^^^^^^^^^^^^ File "D:\Python\Lib\site-packages\pandas\core\frame.py", line 4102, in __getitem__ indexer = self.columns.get_loc(key) ^^^^^^^^^^^^^^^^^^^^^^^^^ File "D:\Python\Lib\site-packages\pandas\core\indexes\base.py", line 3812, in get_loc raise KeyError(key) from err KeyError: 'sign_speed' [2025-04-16 09:20:57,477][ERROR][ThreadPoolExecutor-0_1][traffic.py:1465] SpeedLimitViolation 执行失败: 'sign_speed' Traceback (most recent call last): File "D:\Python\Lib\site-packages\pandas\core\indexes\base.py", line 3805, in get_loc return self._engine.get_loc(casted_key) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ File "index.pyx", line 167, in pandas._libs.index.IndexEngine.get_loc File "index.pyx", line 196, in pandas._libs.index.IndexEngine.get_loc File "pandas\\_libs\\hashtable_class_helper.pxi", line 7081, in pandas._libs.hashtable.PyObjectHashTable.get_item File "pandas\\_libs\\hashtable_class_helper.pxi", line 7089, in pandas._libs.hashtable.PyObjectHashTable.get_item KeyError: 'sign_speed' The above exception was the direct cause of the following exception: Traceback (most recent call last): File "D:\Cicv\招远\zhaoyuan0410\modules\metric\traffic.py", line 1462, in batch_execute result = func(self.data) ^^^^^^^^^^^^^^^ File "D:\Cicv\招远\zhaoyuan0410\modules\metric\traffic.py", line 1344, in SpeedLimitViolation SpeedLimitViolation_count = trafficsignviolation.calculate_SpeedLimitViolation_count() ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ File "D:\Cicv\招远\zhaoyuan0410\modules\metric\traffic.py", line 1411, in calculate_SpeedLimitViolation_count self.checkForProhibitionViolation() File "D:\Cicv\招远\zhaoyuan0410\modules\metric\traffic.py", line 1395, in checkForProhibitionViolation mask = self.data_ego["v"] > self.data_ego["sign_speed"] ~~~~~~~~~~~~~^^^^^^^^^^^^^^ File "D:\Python\Lib\site-packages\pandas\core\frame.py", line 4102, in __getitem__ indexer = self.columns.get_loc(key) ^^^^^^^^^^^^^^^^^^^^^^^^^ File "D:\Python\Lib\site-packages\pandas\core\indexes\base.py", line 3812, in get_loc raise KeyError(key) from err KeyError: 'sign_speed' [2025-04-16 09:20:57,478][ERROR][ThreadPoolExecutor-0_1][traffic.py:1465] MinimumSpeedLimitViolation 执行失败: 'sign_speed' Traceback (most recent call last): File "D:\Python\Lib\site-packages\pandas\core\indexes\base.py", line 3805, in get_loc return self._engine.get_loc(casted_key) ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ File "index.pyx", line 167, in pandas._libs.index.IndexEngine.get_loc File "index.pyx", line 196, in pandas._libs.index.IndexEngine.get_loc File "pandas\\_libs\\hashtable_class_helper.pxi", line 7081, in pandas._libs.hashtable.PyObjectHashTable.get_item File "pandas\\_libs\\hashtable_class_helper.pxi", line 7089, in pandas._libs.hashtable.PyObjectHashTable.get_item KeyError: 'sign_speed' The above exception was the direct cause of the following exception: Traceback (most recent call last): File "D:\Cicv\招远\zhaoyuan0410\modules\metric\traffic.py", line 1462, in batch_execute result = func(self.data) ^^^^^^^^^^^^^^^ File "D:\Cicv\招远\zhaoyuan0410\modules\metric\traffic.py", line 1350, in MinimumSpeedLimitViolation MinimumSpeedLimitViolation_count = trafficsignviolation.calculate_MinimumSpeedLimitViolation_count() ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ File "D:\Cicv\招远\zhaoyuan0410\modules\metric\traffic.py", line 1416, in calculate_MinimumSpeedLimitViolation_count self.checkForProhibitionViolation() File "D:\Cicv\招远\zhaoyuan0410\modules\metric\traffic.py", line 1395, in checkForProhibitionViolation mask = self.data_ego["v"] > self.data_ego["sign_speed"] ~~~~~~~~~~~~~^^^^^^^^^^^^^^ File "D:\Python\Lib\site-packages\pandas\core\frame.py", line 4102, in __getitem__ indexer = self.columns.get_loc(key) ^^^^^^^^^^^^^^^^^^^^^^^^^ File "D:\Python\Lib\site-packages\pandas\core\indexes\base.py", line 3812, in get_loc raise KeyError(key) from err KeyError: 'sign_speed' [2025-04-16 09:20:57,483][INFO][ThreadPoolExecutor-0_1][traffic.py:1467] 合规性指标计算结果:{'urbanExpresswayOrHighwaySpeedOverLimit50': 0, 'urbanExpresswayOrHighwayDrivingLaneStopped': 0, 'urbanExpresswayEmergencyLaneDriving': 0, 'trafficSignalViolation': 0, 'urbanExpresswayOrHighwaySpeedOverLimit20to50': 0, 'generalRoadSpeedOverLimit50': 743, 'generalRoadSpeedOverLimit20to50': 6, 'illegalDrivingOrParkingAtCrossroads': 0, 'overtake_on_right': 0, 'overtake_when_turn_around': np.int64(0), 'overtake_when_passing_car': 0, 'overtake_in_forbid_lane': 0, 'overtake_in_ramp': 0, 'overtake_in_tunnel': 0, 'overtake_on_accelerate_lane': 0, 'overtake_on_decelerate_lane': 0, 'overtake_in_different_senerios': 0, 'slowdown_down_in_crosswalk': 0, 'avoid_pedestrian_in_crosswalk': 0, 'avoid_pedestrian_in_the_road': 0, 'NoStraightThrough': None, 'SpeedLimitViolation': None, 'MinimumSpeedLimitViolation': None, 'urbanExpresswayOrHighwaySpeedOverLimit0to20': 0, 'urbanExpresswayOrHighwayRideLaneDivider': 0, 'generalRoadIrregularLaneUse': 0} [2025-04-16 09:20:57,488][INFO][MainThread][score.py:38] 模块名称：efficient [2025-04-16 09:20:57,488][INFO][MainThread][score.py:39] 模块配置：{'name': 'efficient', 'priority': 0, 'drivingMode': {'name': 'drivingMode', 'priority': 0, 'max_speed': {'name': 'maxSpeed', 'priority': 0, 'max': 0.0, 'min': 0.0}, 'devation_speed': {'name': 'deviationSpeed', 'priority': 0, 'max': 0.0, 'min': 0.0}, 'averagedSpeed': {'name': 'averagedSpeed', 'priority': 0, 'max': 80.0, 'min': 30.0}}, 'parkingMode': {'name': 'parkingMode', 'priority': 0, 'stopDuration': {'name': 'stopDuration', 'priority': 0, 'max': 1, 'min': 0}}} [2025-04-16 09:20:57,488][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5} [2025-04-16 09:20:57,488][INFO][MainThread][score.py:38] 模块名称：function [2025-04-16 09:20:57,488][INFO][MainThread][score.py:39] 模块配置：{'name': 'function', 'priority': 0, 'LKA': {'name': 'LKA', 'priority': 0, 'latestWarningDistance_TTC': {'name': 'latestWarningDistance_TTC', 'priority': 0, 'max': 5, 'min': 1.98}, 'latestWarningDistance': {'name': 'latestWarningDistance', 'priority': 0, 'max': 150, 'min': 0}}} [2025-04-16 09:20:57,488][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5} [2025-04-16 09:20:57,488][INFO][MainThread][score.py:38] 模块名称：user [2025-04-16 09:20:57,488][INFO][MainThread][score.py:39] 模块配置：{'name': 'user', 'priority': 0, 'safeTime': {'name': 'safetime', 'priority': 0, 'CustomTTC': {'name': 'CustomTTC', 'priority': 0, 'max': 20.0, 'min': 3.5}}} [2025-04-16 09:20:57,488][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5} [2025-04-16 09:20:57,488][INFO][MainThread][evaluator_optimized.py:328] 评测自定义指标: user.safetime.CustomTTC [2025-04-16 09:20:57,489][INFO][MainThread][evaluator_optimized.py:424] 评估报告已生成: D:\Cicv\招远\zhaoyuan0410\result\招远_report.json [2025-04-16 09:27:03,937][INFO][MainThread][evaluator_optimized.py:102] 成功加载内置指标配置: D:\Cicv\招远\zhaoyuan0410\config\metrics_config.yaml [2025-04-16 09:27:03,938][INFO][MainThread][evaluator_optimized.py:112] 成功加载自定义指标配置: D:\Cicv\招远\zhaoyuan0410\test\custom_metrics_config.yaml [2025-04-16 09:27:04,335][WARNING][MainThread][evaluator_optimized.py:199] 自定义指标脚本 metric_safety_safeTime_CustomTTC.py 缺少 evaluate 函数 [2025-04-16 09:27:04,335][INFO][MainThread][evaluator_optimized.py:205] 成功加载自定义指标脚本: metric_user_safeTime_CustomTTC.py [2025-04-16 09:27:04,413][INFO][ThreadPoolExecutor-0_0][safety.py:61] 评比的安全指标列表:['TTC', 'MTTC', 'THW', 'LonSD', 'LatSD', 'BTN', 'collisionRisk', 'collisionSeverity'] [2025-04-16 09:27:04,413][WARNING][ThreadPoolExecutor-0_0][safety.py:72] 未实现安全指标函数: calculate_lonsd [2025-04-16 09:27:04,413][WARNING][ThreadPoolExecutor-0_0][safety.py:72] 未实现安全指标函数: calculate_latsd [2025-04-16 09:27:04,413][WARNING][ThreadPoolExecutor-0_0][safety.py:72] 未实现安全指标函数: calculate_btn [2025-04-16 09:27:04,413][WARNING][ThreadPoolExecutor-0_0][safety.py:72] 未实现安全指标函数: calculate_collisionrisk [2025-04-16 09:27:04,413][WARNING][ThreadPoolExecutor-0_0][safety.py:72] 未实现安全指标函数: calculate_collisionseverity [2025-04-16 09:27:04,413][INFO][ThreadPoolExecutor-0_0][safety.py:85] 安全指标计算结果:{'TTC': 3.5, 'MTTC': 4.2, 'THW': 2.1} [2025-04-16 09:27:04,413][INFO][ThreadPoolExecutor-0_0][comfort.py:130] 评比的舒适性指标列表:['Weaving', 'shake', 'cadence', 'slamBrake', 'slamAccelerate'] [2025-04-16 09:27:04,413][ERROR][ThreadPoolExecutor-0_0][comfort.py:140] 未实现指标函数: Weaving [2025-04-16 09:27:04,414][INFO][ThreadPoolExecutor-0_1][traffic.py:1423] 评比的合规性指标列表:['urbanExpresswayOrHighwaySpeedOverLimit50', 'higwayreverse', 'higwayDrivingAgainst', 'urbanExpresswayOrHighwayDrivingLaneStopped', 'highwayEmergencyLaneStopped', 'urbanExpresswayEmergencyLaneDriving', 'trafficSignalViolation', 'urbanExpresswayOrHighwaySpeedOverLimit20to50', 'generalRoadSpeedOverLimit50', 'generalRoadSpeedOverLimit20to50', 'UrbanExpresswayOrHighwaySpeedUnderLimit', 'illegalDrivingOrParkingAtCrossroads', 'overtake_on_right', 'overtake_when_turn_around', 'overtake_when_passing_car', 'overtake_in_forbid_lane', 'overtake_in_ramp', 'overtake_in_tunnel', 'overtake_on_accelerate_lane', 'overtake_on_decelerate_lane', 'overtake_in_different_senerios', 'slow_down_in_crosswalk', 'avoid_pedestrian_in_crosswalk', 'avoid_pedestrian_in_the_road', 'aviod_pedestrian_when_turning', 'NoStraightThrough', 'SpeedLimitViolation', 'MinimumSpeedLimitViolation', 'noUTurnViolation', 'urbanExpresswayOrHighwaySpeedOverLimit0to20', 'urbanExpresswayOrHighwayRideLaneDivider', 'generalRoadIrregularLaneUse'] [2025-04-16 09:27:04,414][ERROR][ThreadPoolExecutor-0_1][traffic.py:1433] 未实现指标函数: higwayreverse [2025-04-16 09:27:04,414][ERROR][ThreadPoolExecutor-0_1][traffic.py:1433] 未实现指标函数: higwayDrivingAgainst [2025-04-16 09:27:04,414][ERROR][ThreadPoolExecutor-0_1][traffic.py:1433] 未实现指标函数: highwayEmergencyLaneStopped [2025-04-16 09:27:04,414][ERROR][ThreadPoolExecutor-0_1][traffic.py:1433] 未实现指标函数: UrbanExpresswayOrHighwaySpeedUnderLimit [2025-04-16 09:27:04,414][ERROR][ThreadPoolExecutor-0_1][traffic.py:1433] 未实现指标函数: aviod_pedestrian_when_turning [2025-04-16 09:27:04,414][ERROR][ThreadPoolExecutor-0_1][traffic.py:1433] 未实现指标函数: NoStraightThrough [2025-04-16 09:27:04,414][ERROR][ThreadPoolExecutor-0_1][traffic.py:1433] 未实现指标函数: SpeedLimitViolation [2025-04-16 09:27:04,414][ERROR][ThreadPoolExecutor-0_1][traffic.py:1433] 未实现指标函数: MinimumSpeedLimitViolation [2025-04-16 09:27:04,414][ERROR][ThreadPoolExecutor-0_1][traffic.py:1433] 未实现指标函数: noUTurnViolation [2025-04-16 09:27:04,416][INFO][ThreadPoolExecutor-0_2][efficient.py:107] 评比的高效性指标列表:['maxSpeed', 'deviationSpeed', 'averagedSpeed', 'stopDuration'] [2025-04-16 09:27:04,416][INFO][ThreadPoolExecutor-0_3][function.py:113] 评比的功能指标列表:['latestWarningDistance_TTC', 'latestWarningDistance'] [2025-04-16 09:27:04,416][INFO][MainThread][score.py:38] 模块名称：safety [2025-04-16 09:27:04,417][INFO][MainThread][score.py:39] 模块配置：{'name': 'safety', 'priority': 0, 'safeTime': {'name': 'safetime', 'priority': 0, 'TTC': {'name': 'TTC', 'priority': 0, 'max': 2000.0, 'min': 2.86}, 'MTTC': {'name': 'MTTC', 'priority': 0, 'max': 2000.0, 'min': 3.0}, 'THW': {'name': 'THW', 'priority': 0, 'max': 2000.0, 'min': 1.5}, 'CustomTTC': {'name': 'CustomTTC', 'priority': 0, 'max': 20.0, 'min': 3.5}}, 'safeDistance': {'name': 'safeDistance', 'priority': 0, 'LonSD': {'name': 'LonSD', 'priority': 0, 'max': 2000.0, 'min': 10.0}, 'LatSD': {'name': 'LatSD', 'priority': 0, 'max': 2000.0, 'min': 2.0}}, 'safeAcceleration': {'name': 'safeAcceleration', 'priority': 0, 'BTN': {'name': 'BTN', 'priority': 0, 'max': 1.0, 'min': -2000.0}}, 'safeProbability': {'name': 'safeProbability', 'priority': 0, 'collisionRisk': {'name': 'collisionRisk', 'priority': 0, 'max': 10.0, 'min': 0.0}, 'collisionSeverity': {'name': 'collisionSeverity', 'priority': 0, 'max': 10.0, 'min': 0.0}}} [2025-04-16 09:27:04,417][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5} [2025-04-16 09:27:04,418][INFO][ThreadPoolExecutor-0_3][function.py:138] 功能指标计算结果:{'latestWarningDistance_TTC': 0.0, 'latestWarningDistance': 0.0} [2025-04-16 09:27:04,432][INFO][ThreadPoolExecutor-0_2][efficient.py:130] 高效性指标计算结果:{'maxSpeed': 31.207681362126216, 'deviationSpeed': 157.463473620643, 'averagedSpeed': 17.53781182427396, 'stopDuration': 0.6800000667572021, 'stopCount': 1} [2025-04-16 09:27:04,440][INFO][MainThread][score.py:38] 模块名称：comfort [2025-04-16 09:27:04,440][INFO][MainThread][score.py:39] 模块配置：{'name': 'comfort', 'priority': 0, 'comfortLat': {'name': 'comfortLat', 'priority': 0, 'Weaving': {'name': 'Weaving', 'priority': 0, 'max': 0, 'min': 0}, 'shake': {'name': 'shake', 'priority': 0, 'max': 0, 'min': 0}}, 'comfortLon': {'name': 'comfortLon', 'priority': 0, 'cadence': {'name': 'cadence', 'priority': 0, 'max': 0, 'min': 0}, 'slamBrake': {'name': 'slamBrake', 'priority': 0, 'max': 0, 'min': 0}, 'slamAccelerate': {'name': 'slamAccelerate', 'priority': 0, 'max': 0, 'min': 0}}} [2025-04-16 09:27:04,440][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5} [2025-04-16 09:27:04,765][INFO][ThreadPoolExecutor-0_0][comfort.py:153] 舒适性指标计算结果:{'shake': 2.0, 'cadence': 0.0, 'slamBrake': 1.0, 'slamAccelerate': 1.0} [2025-04-16 09:27:04,766][INFO][MainThread][score.py:38] 模块名称：traffic [2025-04-16 09:27:04,766][INFO][MainThread][score.py:39] 模块配置：{'name': 'traffic', 'priority': 0, 'majorViolation': {'name': 'majorViolation', 'priority': 0, 'urbanExpresswayOrHighwaySpeedOverLimit50': {'name': 'urbanExpresswayOrHighwaySpeedOverLimit50', 'priority': 0, 'max': 0, 'min': 0}, 'urbanExpresswayOrHighwayReverse': {'name': 'higwayreverse', 'priority': 0, 'max': 0, 'min': 0}, 'urbanExpresswayOrHighwayDrivingAgainst': {'name': 'higwayDrivingAgainst', 'priority': 0, 'max': 0, 'min': 0}}, 'seriousViolation': {'name': 'seriousViolation', 'priority': 0, 'urbanExpresswayOrHighwayDrivingLaneStopped': {'name': 'urbanExpresswayOrHighwayDrivingLaneStopped', 'priority': 0, 'max': 0, 'min': 0}, 'urbanExpresswayOrHighwayEmergencyLaneStopped': {'name': 'highwayEmergencyLaneStopped', 'priority': 0, 'max': 0, 'min': 0}}, 'dangerousViolation': {'name': 'dangerousViolation', 'priority': 0, 'urbanExpresswayEmergencyLaneDriving': {'name': 'urbanExpresswayEmergencyLaneDriving', 'priority': 0, 'max': 0, 'min': 0}, 'trafficSignalViolation': {'name': 'trafficSignalViolation', 'priority': 0, 'max': 0, 'min': 0}, 'urbanExpresswayOrHighwaySpeedOverLimit20to50': {'name': 'urbanExpresswayOrHighwaySpeedOverLimit20to50', 'priority': 0, 'max': 0, 'min': 0}, 'generalRoadSpeedOverLimit50': {'name': 'generalRoadSpeedOverLimit50', 'priority': 0, 'max': 0, 'min': 0}}, 'generalViolation': {'name': 'generalViolation', 'priority': 0, 'generalRoadSpeedOverLimit20to50': {'name': 'generalRoadSpeedOverLimit20to50', 'priority': 0, 'max': 0, 'min': 0}, 'urbanExpresswayOrHighwaySpeedUnderLimit': {'name': 'UrbanExpresswayOrHighwaySpeedUnderLimit', 'priority': 0, 'max': 0, 'min': 0}, 'illegalDrivingOrParkingAtCrossroads': {'name': 'illegalDrivingOrParkingAtCrossroads', 'priority': 0, 'max': 0, 'min': 0}, 'overtake_on_right': {'name': 'overtake_on_right', 'priority': 0, 'max': 0, 'min': 0}, 'overtake_when_turn_around': {'name': 'overtake_when_turn_around', 'priority': 0, 'max': 0, 'min': 0}, 'overtake_when_passing_car': {'name': 'overtake_when_passing_car', 'priority': 0, 'max': 0, 'min': 0}, 'overtake_in_forbid_lane': {'name': 'overtake_in_forbid_lane', 'priority': 0, 'max': 0, 'min': 0}, 'overtake_in_ramp': {'name': 'overtake_in_ramp', 'priority': 0, 'max': 0, 'min': 0}, 'overtake_in_tunnel': {'name': 'overtake_in_tunnel', 'priority': 0, 'max': 0, 'min': 0}, 'overtake_on_accelerate_lane': {'name': 'overtake_on_accelerate_lane', 'priority': 0, 'max': 0, 'min': 0}, 'overtake_on_decelerate_lane': {'name': 'overtake_on_decelerate_lane', 'priority': 0, 'max': 0, 'min': 0}, 'overtake_in_different_senerios': {'name': 'overtake_in_different_senerios', 'priority': 0, 'max': 0, 'min': 0}, 'slow_down_in_crosswalk': {'name': 'slow_down_in_crosswalk', 'priority': 0, 'max': 0, 'min': 0}, 'avoid_pedestrian_in_crosswalk': {'name': 'avoid_pedestrian_in_crosswalk', 'priority': 0, 'max': 0, 'min': 0}, 'avoid_pedestrian_in_the_road': {'name': 'avoid_pedestrian_in_the_road', 'priority': 0, 'max': 0, 'min': 0}, 'aviod_pedestrian_when_turning': {'name': 'aviod_pedestrian_when_turning', 'priority': 0, 'max': 0, 'min': 0}, 'NoStraightThrough': {'name': 'NoStraightThrough', 'priority': 0, 'max': 0, 'min': 0}, 'SpeedLimitViolation': {'name': 'SpeedLimitViolation', 'priority': 0, 'max': 0, 'min': 0}, 'MinimumSpeedLimitViolation': {'name': 'MinimumSpeedLimitViolation', 'priority': 0, 'max': 0, 'min': 0}}, 'minorViolation': {'name': 'minorViolation', 'priority': 0, 'noUTurnViolation': {'name': 'noUTurnViolation', 'priority': 0, 'max': 0, 'min': 0}}, 'warningViolation': {'name': 'warningViolation', 'priority': 0, 'urbanExpresswayOrHighwaySpeedOverLimit0to20': {'name': 'urbanExpresswayOrHighwaySpeedOverLimit0to20', 'priority': 0, 'max': 0, 'min': 0}, 'urbanExpresswayOrHighwayRideLaneDivider': {'name': 'urbanExpresswayOrHighwayRideLaneDivider', 'priority': 0, 'max': 0, 'min': 0}, 'generalRoadIrregularLaneUse': {'name': 'generalRoadIrregularLaneUse', 'priority': 0, 'max': 0, 'min': 0}}} [2025-04-16 09:27:04,766][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5} [2025-04-16 09:27:05,700][INFO][ThreadPoolExecutor-0_1][traffic.py:1446] 合规性指标计算结果:{'urbanExpresswayOrHighwaySpeedOverLimit50': 0, 'urbanExpresswayOrHighwayDrivingLaneStopped': 0, 'urbanExpresswayEmergencyLaneDriving': 0, 'trafficSignalViolation': 0, 'urbanExpresswayOrHighwaySpeedOverLimit20to50': 0, 'generalRoadSpeedOverLimit50': 743, 'generalRoadSpeedOverLimit20to50': 6, 'illegalDrivingOrParkingAtCrossroads': 0, 'overtake_on_right': 0, 'overtake_when_turn_around': np.int64(0), 'overtake_when_passing_car': 0, 'overtake_in_forbid_lane': 0, 'overtake_in_ramp': 0, 'overtake_in_tunnel': 0, 'overtake_on_accelerate_lane': 0, 'overtake_on_decelerate_lane': 0, 'overtake_in_different_senerios': 0, 'slowdown_down_in_crosswalk': 0, 'avoid_pedestrian_in_crosswalk': 0, 'avoid_pedestrian_in_the_road': 0, 'urbanExpresswayOrHighwaySpeedOverLimit0to20': 0, 'urbanExpresswayOrHighwayRideLaneDivider': 0, 'generalRoadIrregularLaneUse': 0} [2025-04-16 09:27:05,702][INFO][MainThread][score.py:38] 模块名称：efficient [2025-04-16 09:27:05,702][INFO][MainThread][score.py:39] 模块配置：{'name': 'efficient', 'priority': 0, 'drivingMode': {'name': 'drivingMode', 'priority': 0, 'max_speed': {'name': 'maxSpeed', 'priority': 0, 'max': 0.0, 'min': 0.0}, 'devation_speed': {'name': 'deviationSpeed', 'priority': 0, 'max': 0.0, 'min': 0.0}, 'averagedSpeed': {'name': 'averagedSpeed', 'priority': 0, 'max': 80.0, 'min': 30.0}}, 'parkingMode': {'name': 'parkingMode', 'priority': 0, 'stopDuration': {'name': 'stopDuration', 'priority': 0, 'max': 1, 'min': 0}}} [2025-04-16 09:27:05,702][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5} [2025-04-16 09:27:05,702][INFO][MainThread][score.py:38] 模块名称：function [2025-04-16 09:27:05,702][INFO][MainThread][score.py:39] 模块配置：{'name': 'function', 'priority': 0, 'LKA': {'name': 'LKA', 'priority': 0, 'latestWarningDistance_TTC': {'name': 'latestWarningDistance_TTC', 'priority': 0, 'max': 5, 'min': 1.98}, 'latestWarningDistance': {'name': 'latestWarningDistance', 'priority': 0, 'max': 150, 'min': 0}}} [2025-04-16 09:27:05,702][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5} [2025-04-16 09:27:05,703][INFO][MainThread][score.py:38] 模块名称：user [2025-04-16 09:27:05,703][INFO][MainThread][score.py:39] 模块配置：{'name': 'user', 'priority': 0, 'safeTime': {'name': 'safetime', 'priority': 0, 'CustomTTC': {'name': 'CustomTTC', 'priority': 0, 'max': 20.0, 'min': 3.5}}} [2025-04-16 09:27:05,703][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5} [2025-04-16 09:27:05,703][INFO][MainThread][evaluator_optimized.py:328] 评测自定义指标: user.safetime.CustomTTC [2025-04-16 09:36:34,946][INFO][MainThread][evaluator_optimized.py:102] 成功加载内置指标配置: D:\Cicv\招远\zhaoyuan0410\config\metrics_config.yaml [2025-04-16 09:36:34,947][INFO][MainThread][evaluator_optimized.py:112] 成功加载自定义指标配置: D:\Cicv\招远\zhaoyuan0410\test\custom_metrics_config.yaml [2025-04-16 09:36:35,459][WARNING][MainThread][evaluator_optimized.py:199] 自定义指标脚本 metric_safety_safeTime_CustomTTC.py 缺少 evaluate 函数 [2025-04-16 09:36:35,459][INFO][MainThread][evaluator_optimized.py:205] 成功加载自定义指标脚本: metric_user_safeTime_CustomTTC.py [2025-04-16 09:36:35,541][INFO][ThreadPoolExecutor-0_0][safety.py:61] 评比的安全指标列表:['TTC', 'MTTC', 'THW', 'LonSD', 'LatSD', 'BTN', 'collisionRisk', 'collisionSeverity'] [2025-04-16 09:36:35,541][WARNING][ThreadPoolExecutor-0_0][safety.py:72] 未实现安全指标函数: calculate_lonsd [2025-04-16 09:36:35,541][WARNING][ThreadPoolExecutor-0_0][safety.py:72] 未实现安全指标函数: calculate_latsd [2025-04-16 09:36:35,541][WARNING][ThreadPoolExecutor-0_0][safety.py:72] 未实现安全指标函数: calculate_btn [2025-04-16 09:36:35,541][WARNING][ThreadPoolExecutor-0_0][safety.py:72] 未实现安全指标函数: calculate_collisionrisk [2025-04-16 09:36:35,541][WARNING][ThreadPoolExecutor-0_0][safety.py:72] 未实现安全指标函数: calculate_collisionseverity [2025-04-16 09:36:35,541][INFO][ThreadPoolExecutor-0_0][safety.py:85] 安全指标计算结果:{'TTC': 3.5, 'MTTC': 4.2, 'THW': 2.1} [2025-04-16 09:36:35,541][INFO][ThreadPoolExecutor-0_1][comfort.py:130] 评比的舒适性指标列表:['Weaving', 'shake', 'cadence', 'slamBrake', 'slamAccelerate'] [2025-04-16 09:36:35,541][ERROR][ThreadPoolExecutor-0_1][comfort.py:140] 未实现指标函数: Weaving [2025-04-16 09:36:35,542][INFO][ThreadPoolExecutor-0_0][traffic.py:1424] 评比的合规性指标列表:['urbanExpresswayOrHighwaySpeedOverLimit50', 'higwayreverse', 'higwayDrivingAgainst', 'urbanExpresswayOrHighwayDrivingLaneStopped', 'highwayEmergencyLaneStopped', 'urbanExpresswayEmergencyLaneDriving', 'trafficSignalViolation', 'urbanExpresswayOrHighwaySpeedOverLimit20to50', 'generalRoadSpeedOverLimit50', 'generalRoadSpeedOverLimit20to50', 'UrbanExpresswayOrHighwaySpeedUnderLimit', 'illegalDrivingOrParkingAtCrossroads', 'overtake_on_right', 'overtake_when_turn_around', 'overtake_when_passing_car', 'overtake_in_forbid_lane', 'overtake_in_ramp', 'overtake_in_tunnel', 'overtake_on_accelerate_lane', 'overtake_on_decelerate_lane', 'overtake_in_different_senerios', 'slow_down_in_crosswalk', 'avoid_pedestrian_in_crosswalk', 'avoid_pedestrian_in_the_road', 'aviod_pedestrian_when_turning', 'NoStraightThrough', 'SpeedLimitViolation', 'MinimumSpeedLimitViolation', 'noUTurnViolation', 'urbanExpresswayOrHighwaySpeedOverLimit0to20', 'urbanExpresswayOrHighwayRideLaneDivider', 'generalRoadIrregularLaneUse'] [2025-04-16 09:36:35,542][ERROR][ThreadPoolExecutor-0_0][traffic.py:1434] 未实现指标函数: higwayreverse [2025-04-16 09:36:35,542][ERROR][ThreadPoolExecutor-0_0][traffic.py:1434] 未实现指标函数: higwayDrivingAgainst [2025-04-16 09:36:35,542][ERROR][ThreadPoolExecutor-0_0][traffic.py:1434] 未实现指标函数: highwayEmergencyLaneStopped [2025-04-16 09:36:35,542][ERROR][ThreadPoolExecutor-0_0][traffic.py:1434] 未实现指标函数: UrbanExpresswayOrHighwaySpeedUnderLimit [2025-04-16 09:36:35,542][ERROR][ThreadPoolExecutor-0_0][traffic.py:1434] 未实现指标函数: aviod_pedestrian_when_turning [2025-04-16 09:36:35,542][ERROR][ThreadPoolExecutor-0_0][traffic.py:1434] 未实现指标函数: NoStraightThrough [2025-04-16 09:36:35,542][ERROR][ThreadPoolExecutor-0_0][traffic.py:1434] 未实现指标函数: SpeedLimitViolation [2025-04-16 09:36:35,542][ERROR][ThreadPoolExecutor-0_0][traffic.py:1434] 未实现指标函数: MinimumSpeedLimitViolation [2025-04-16 09:36:35,542][ERROR][ThreadPoolExecutor-0_0][traffic.py:1434] 未实现指标函数: noUTurnViolation [2025-04-16 09:36:35,542][INFO][ThreadPoolExecutor-0_2][efficient.py:107] 评比的高效性指标列表:['maxSpeed', 'deviationSpeed', 'averagedSpeed', 'stopDuration'] [2025-04-16 09:36:35,543][INFO][ThreadPoolExecutor-0_3][function.py:527] 评比的功能指标列表:['latestWarningDistance_TTC', 'latestWarningDistance'] [2025-04-16 09:36:35,543][INFO][MainThread][score.py:38] 模块名称：safety [2025-04-16 09:36:35,543][INFO][MainThread][score.py:39] 模块配置：{'name': 'safety', 'priority': 0, 'safeTime': {'name': 'safetime', 'priority': 0, 'TTC': {'name': 'TTC', 'priority': 0, 'max': 2000.0, 'min': 2.86}, 'MTTC': {'name': 'MTTC', 'priority': 0, 'max': 2000.0, 'min': 3.0}, 'THW': {'name': 'THW', 'priority': 0, 'max': 2000.0, 'min': 1.5}, 'CustomTTC': {'name': 'CustomTTC', 'priority': 0, 'max': 20.0, 'min': 3.5}}, 'safeDistance': {'name': 'safeDistance', 'priority': 0, 'LonSD': {'name': 'LonSD', 'priority': 0, 'max': 2000.0, 'min': 10.0}, 'LatSD': {'name': 'LatSD', 'priority': 0, 'max': 2000.0, 'min': 2.0}}, 'safeAcceleration': {'name': 'safeAcceleration', 'priority': 0, 'BTN': {'name': 'BTN', 'priority': 0, 'max': 1.0, 'min': -2000.0}}, 'safeProbability': {'name': 'safeProbability', 'priority': 0, 'collisionRisk': {'name': 'collisionRisk', 'priority': 0, 'max': 10.0, 'min': 0.0}, 'collisionSeverity': {'name': 'collisionSeverity', 'priority': 0, 'max': 10.0, 'min': 0.0}}} [2025-04-16 09:36:35,543][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5} [2025-04-16 09:36:35,544][ERROR][ThreadPoolExecutor-0_3][function.py:538] 未实现指标函数: latestWarningDistance_TTC [2025-04-16 09:36:35,544][ERROR][ThreadPoolExecutor-0_3][function.py:538] 未实现指标函数: latestWarningDistance [2025-04-16 09:36:35,544][INFO][ThreadPoolExecutor-0_3][function.py:552] 功能指标计算结果:{} [2025-04-16 09:36:35,546][INFO][ThreadPoolExecutor-0_2][efficient.py:130] 高效性指标计算结果:{'maxSpeed': 8.668800378368394, 'deviationSpeed': 157.463473620643, 'averagedSpeed': 17.53781182427396, 'stopDuration': 1.7350000143051147, 'stopCount': 2} [2025-04-16 09:36:35,554][INFO][MainThread][score.py:38] 模块名称：comfort [2025-04-16 09:36:35,554][INFO][MainThread][score.py:39] 模块配置：{'name': 'comfort', 'priority': 0, 'comfortLat': {'name': 'comfortLat', 'priority': 0, 'Weaving': {'name': 'Weaving', 'priority': 0, 'max': 0, 'min': 0}, 'shake': {'name': 'shake', 'priority': 0, 'max': 0, 'min': 0}}, 'comfortLon': {'name': 'comfortLon', 'priority': 0, 'cadence': {'name': 'cadence', 'priority': 0, 'max': 0, 'min': 0}, 'slamBrake': {'name': 'slamBrake', 'priority': 0, 'max': 0, 'min': 0}, 'slamAccelerate': {'name': 'slamAccelerate', 'priority': 0, 'max': 0, 'min': 0}}} [2025-04-16 09:36:35,554][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5} [2025-04-16 09:36:35,570][ERROR][ThreadPoolExecutor-0_3][evaluator_optimized.py:358] function 执行异常: Score.__init__() missing 1 required positional argument: 'module_name' Stack (most recent call last): File "D:\Python\Lib\threading.py", line 1030, in _bootstrap self._bootstrap_inner() File "D:\Python\Lib\threading.py", line 1073, in _bootstrap_inner self.run() File "D:\Python\Lib\threading.py", line 1010, in run self._target(*self._args, **self._kwargs) File "D:\Python\Lib\concurrent\futures\thread.py", line 92, in _worker work_item.run() File "D:\Python\Lib\concurrent\futures\thread.py", line 58, in run result = self.fn(*self.args, **self.kwargs) File "D:\Cicv\招远\zhaoyuan0410\scripts\evaluator_optimized.py", line 358, in _run_module self.logger.error(f"{module_name} 执行异常: {str(e)}", stack_info=True) [2025-04-16 09:36:35,896][INFO][ThreadPoolExecutor-0_1][comfort.py:153] 舒适性指标计算结果:{'shake': 2.0, 'cadence': 0.0, 'slamBrake': 1.0, 'slamAccelerate': 1.0} [2025-04-16 09:36:35,897][INFO][MainThread][score.py:38] 模块名称：traffic [2025-04-16 09:36:35,898][INFO][MainThread][score.py:39] 模块配置：{'name': 'traffic', 'priority': 0, 'majorViolation': {'name': 'majorViolation', 'priority': 0, 'urbanExpresswayOrHighwaySpeedOverLimit50': {'name': 'urbanExpresswayOrHighwaySpeedOverLimit50', 'priority': 0, 'max': 0, 'min': 0}, 'urbanExpresswayOrHighwayReverse': {'name': 'higwayreverse', 'priority': 0, 'max': 0, 'min': 0}, 'urbanExpresswayOrHighwayDrivingAgainst': {'name': 'higwayDrivingAgainst', 'priority': 0, 'max': 0, 'min': 0}}, 'seriousViolation': {'name': 'seriousViolation', 'priority': 0, 'urbanExpresswayOrHighwayDrivingLaneStopped': {'name': 'urbanExpresswayOrHighwayDrivingLaneStopped', 'priority': 0, 'max': 0, 'min': 0}, 'urbanExpresswayOrHighwayEmergencyLaneStopped': {'name': 'highwayEmergencyLaneStopped', 'priority': 0, 'max': 0, 'min': 0}}, 'dangerousViolation': {'name': 'dangerousViolation', 'priority': 0, 'urbanExpresswayEmergencyLaneDriving': {'name': 'urbanExpresswayEmergencyLaneDriving', 'priority': 0, 'max': 0, 'min': 0}, 'trafficSignalViolation': {'name': 'trafficSignalViolation', 'priority': 0, 'max': 0, 'min': 0}, 'urbanExpresswayOrHighwaySpeedOverLimit20to50': {'name': 'urbanExpresswayOrHighwaySpeedOverLimit20to50', 'priority': 0, 'max': 0, 'min': 0}, 'generalRoadSpeedOverLimit50': {'name': 'generalRoadSpeedOverLimit50', 'priority': 0, 'max': 0, 'min': 0}}, 'generalViolation': {'name': 'generalViolation', 'priority': 0, 'generalRoadSpeedOverLimit20to50': {'name': 'generalRoadSpeedOverLimit20to50', 'priority': 0, 'max': 0, 'min': 0}, 'urbanExpresswayOrHighwaySpeedUnderLimit': {'name': 'UrbanExpresswayOrHighwaySpeedUnderLimit', 'priority': 0, 'max': 0, 'min': 0}, 'illegalDrivingOrParkingAtCrossroads': {'name': 'illegalDrivingOrParkingAtCrossroads', 'priority': 0, 'max': 0, 'min': 0}, 'overtake_on_right': {'name': 'overtake_on_right', 'priority': 0, 'max': 0, 'min': 0}, 'overtake_when_turn_around': {'name': 'overtake_when_turn_around', 'priority': 0, 'max': 0, 'min': 0}, 'overtake_when_passing_car': {'name': 'overtake_when_passing_car', 'priority': 0, 'max': 0, 'min': 0}, 'overtake_in_forbid_lane': {'name': 'overtake_in_forbid_lane', 'priority': 0, 'max': 0, 'min': 0}, 'overtake_in_ramp': {'name': 'overtake_in_ramp', 'priority': 0, 'max': 0, 'min': 0}, 'overtake_in_tunnel': {'name': 'overtake_in_tunnel', 'priority': 0, 'max': 0, 'min': 0}, 'overtake_on_accelerate_lane': {'name': 'overtake_on_accelerate_lane', 'priority': 0, 'max': 0, 'min': 0}, 'overtake_on_decelerate_lane': {'name': 'overtake_on_decelerate_lane', 'priority': 0, 'max': 0, 'min': 0}, 'overtake_in_different_senerios': {'name': 'overtake_in_different_senerios', 'priority': 0, 'max': 0, 'min': 0}, 'slow_down_in_crosswalk': {'name': 'slow_down_in_crosswalk', 'priority': 0, 'max': 0, 'min': 0}, 'avoid_pedestrian_in_crosswalk': {'name': 'avoid_pedestrian_in_crosswalk', 'priority': 0, 'max': 0, 'min': 0}, 'avoid_pedestrian_in_the_road': {'name': 'avoid_pedestrian_in_the_road', 'priority': 0, 'max': 0, 'min': 0}, 'aviod_pedestrian_when_turning': {'name': 'aviod_pedestrian_when_turning', 'priority': 0, 'max': 0, 'min': 0}, 'NoStraightThrough': {'name': 'NoStraightThrough', 'priority': 0, 'max': 0, 'min': 0}, 'SpeedLimitViolation': {'name': 'SpeedLimitViolation', 'priority': 0, 'max': 0, 'min': 0}, 'MinimumSpeedLimitViolation': {'name': 'MinimumSpeedLimitViolation', 'priority': 0, 'max': 0, 'min': 0}}, 'minorViolation': {'name': 'minorViolation', 'priority': 0, 'noUTurnViolation': {'name': 'noUTurnViolation', 'priority': 0, 'max': 0, 'min': 0}}, 'warningViolation': {'name': 'warningViolation', 'priority': 0, 'urbanExpresswayOrHighwaySpeedOverLimit0to20': {'name': 'urbanExpresswayOrHighwaySpeedOverLimit0to20', 'priority': 0, 'max': 0, 'min': 0}, 'urbanExpresswayOrHighwayRideLaneDivider': {'name': 'urbanExpresswayOrHighwayRideLaneDivider', 'priority': 0, 'max': 0, 'min': 0}, 'generalRoadIrregularLaneUse': {'name': 'generalRoadIrregularLaneUse', 'priority': 0, 'max': 0, 'min': 0}}} [2025-04-16 09:36:35,898][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5} [2025-04-16 09:36:36,741][INFO][ThreadPoolExecutor-0_0][traffic.py:1447] 合规性指标计算结果:{'urbanExpresswayOrHighwaySpeedOverLimit50': 0, 'urbanExpresswayOrHighwayDrivingLaneStopped': 0, 'urbanExpresswayEmergencyLaneDriving': 0, 'trafficSignalViolation': 0, 'urbanExpresswayOrHighwaySpeedOverLimit20to50': 0, 'generalRoadSpeedOverLimit50': 743, 'generalRoadSpeedOverLimit20to50': 6, 'illegalDrivingOrParkingAtCrossroads': 0, 'overtake_on_right': 0, 'overtake_when_turn_around': np.int64(0), 'overtake_when_passing_car': 0, 'overtake_in_forbid_lane': 0, 'overtake_in_ramp': 0, 'overtake_in_tunnel': 0, 'overtake_on_accelerate_lane': 0, 'overtake_on_decelerate_lane': 0, 'overtake_in_different_senerios': 0, 'slowdown_down_in_crosswalk': 0, 'avoid_pedestrian_in_crosswalk': 0, 'avoid_pedestrian_in_the_road': 0, 'urbanExpresswayOrHighwaySpeedOverLimit0to20': 0, 'urbanExpresswayOrHighwayRideLaneDivider': 0, 'generalRoadIrregularLaneUse': 0} [2025-04-16 09:36:36,746][INFO][MainThread][score.py:38] 模块名称：efficient [2025-04-16 09:36:36,746][INFO][MainThread][score.py:39] 模块配置：{'name': 'efficient', 'priority': 0, 'drivingMode': {'name': 'drivingMode', 'priority': 0, 'max_speed': {'name': 'maxSpeed', 'priority': 0, 'max': 0.0, 'min': 0.0}, 'devation_speed': {'name': 'deviationSpeed', 'priority': 0, 'max': 0.0, 'min': 0.0}, 'averagedSpeed': {'name': 'averagedSpeed', 'priority': 0, 'max': 80.0, 'min': 30.0}}, 'parkingMode': {'name': 'parkingMode', 'priority': 0, 'stopDuration': {'name': 'stopDuration', 'priority': 0, 'max': 1, 'min': 0}}} [2025-04-16 09:36:36,746][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5} [2025-04-16 09:36:36,746][INFO][MainThread][score.py:38] 模块名称：function [2025-04-16 09:36:36,746][INFO][MainThread][score.py:39] 模块配置：{'name': 'function', 'priority': 0, 'LKA': {'name': 'LKA', 'priority': 0, 'latestWarningDistance_TTC': {'name': 'latestWarningDistance_TTC', 'priority': 0, 'max': 5, 'min': 1.98}, 'latestWarningDistance': {'name': 'latestWarningDistance', 'priority': 0, 'max': 150, 'min': 0}}} [2025-04-16 09:36:36,746][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5} [2025-04-16 09:36:36,746][INFO][MainThread][score.py:38] 模块名称：user [2025-04-16 09:36:36,746][INFO][MainThread][score.py:39] 模块配置：{'name': 'user', 'priority': 0, 'safeTime': {'name': 'safetime', 'priority': 0, 'CustomTTC': {'name': 'CustomTTC', 'priority': 0, 'max': 20.0, 'min': 3.5}}} [2025-04-16 09:36:36,746][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5} [2025-04-16 09:36:36,746][INFO][MainThread][evaluator_optimized.py:328] 评测自定义指标: user.safetime.CustomTTC [2025-04-16 09:40:20,090][INFO][MainThread][evaluator_optimized.py:102] 成功加载内置指标配置: D:\Cicv\招远\zhaoyuan0410\config\metrics_config.yaml [2025-04-16 09:40:20,090][INFO][MainThread][evaluator_optimized.py:112] 成功加载自定义指标配置: D:\Cicv\招远\zhaoyuan0410\test\custom_metrics_config.yaml [2025-04-16 09:40:39,683][WARNING][MainThread][evaluator_optimized.py:199] 自定义指标脚本 metric_safety_safeTime_CustomTTC.py 缺少 evaluate 函数 [2025-04-16 09:40:39,683][INFO][MainThread][evaluator_optimized.py:205] 成功加载自定义指标脚本: metric_user_safeTime_CustomTTC.py [2025-04-16 09:40:40,799][INFO][MainThread][score.py:38] 模块名称：safety [2025-04-16 09:40:40,799][INFO][MainThread][score.py:39] 模块配置：{'name': 'safety', 'priority': 0, 'safeTime': {'name': 'safetime', 'priority': 0, 'TTC': {'name': 'TTC', 'priority': 0, 'max': 2000.0, 'min': 2.86}, 'MTTC': {'name': 'MTTC', 'priority': 0, 'max': 2000.0, 'min': 3.0}, 'THW': {'name': 'THW', 'priority': 0, 'max': 2000.0, 'min': 1.5}, 'CustomTTC': {'name': 'CustomTTC', 'priority': 0, 'max': 20.0, 'min': 3.5}}, 'safeDistance': {'name': 'safeDistance', 'priority': 0, 'LonSD': {'name': 'LonSD', 'priority': 0, 'max': 2000.0, 'min': 10.0}, 'LatSD': {'name': 'LatSD', 'priority': 0, 'max': 2000.0, 'min': 2.0}}, 'safeAcceleration': {'name': 'safeAcceleration', 'priority': 0, 'BTN': {'name': 'BTN', 'priority': 0, 'max': 1.0, 'min': -2000.0}}, 'safeProbability': {'name': 'safeProbability', 'priority': 0, 'collisionRisk': {'name': 'collisionRisk', 'priority': 0, 'max': 10.0, 'min': 0.0}, 'collisionSeverity': {'name': 'collisionSeverity', 'priority': 0, 'max': 10.0, 'min': 0.0}}} [2025-04-16 09:40:40,799][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5} [2025-04-16 09:40:46,430][INFO][ThreadPoolExecutor-0_2][traffic.py:1424] 评比的合规性指标列表:['urbanExpresswayOrHighwaySpeedOverLimit50', 'higwayreverse', 'higwayDrivingAgainst', 'urbanExpresswayOrHighwayDrivingLaneStopped', 'highwayEmergencyLaneStopped', 'urbanExpresswayEmergencyLaneDriving', 'trafficSignalViolation', 'urbanExpresswayOrHighwaySpeedOverLimit20to50', 'generalRoadSpeedOverLimit50', 'generalRoadSpeedOverLimit20to50', 'UrbanExpresswayOrHighwaySpeedUnderLimit', 'illegalDrivingOrParkingAtCrossroads', 'overtake_on_right', 'overtake_when_turn_around', 'overtake_when_passing_car', 'overtake_in_forbid_lane', 'overtake_in_ramp', 'overtake_in_tunnel', 'overtake_on_accelerate_lane', 'overtake_on_decelerate_lane', 'overtake_in_different_senerios', 'slow_down_in_crosswalk', 'avoid_pedestrian_in_crosswalk', 'avoid_pedestrian_in_the_road', 'aviod_pedestrian_when_turning', 'NoStraightThrough', 'SpeedLimitViolation', 'MinimumSpeedLimitViolation', 'noUTurnViolation', 'urbanExpresswayOrHighwaySpeedOverLimit0to20', 'urbanExpresswayOrHighwayRideLaneDivider', 'generalRoadIrregularLaneUse'] [2025-04-16 09:40:46,430][ERROR][ThreadPoolExecutor-0_2][traffic.py:1434] 未实现指标函数: higwayreverse [2025-04-16 09:40:46,432][ERROR][ThreadPoolExecutor-0_2][traffic.py:1434] 未实现指标函数: higwayDrivingAgainst [2025-04-16 09:40:46,432][ERROR][ThreadPoolExecutor-0_2][traffic.py:1434] 未实现指标函数: highwayEmergencyLaneStopped [2025-04-16 09:40:46,432][ERROR][ThreadPoolExecutor-0_2][traffic.py:1434] 未实现指标函数: UrbanExpresswayOrHighwaySpeedUnderLimit [2025-04-16 09:40:46,434][ERROR][ThreadPoolExecutor-0_2][traffic.py:1434] 未实现指标函数: aviod_pedestrian_when_turning [2025-04-16 09:40:46,434][ERROR][ThreadPoolExecutor-0_2][traffic.py:1434] 未实现指标函数: NoStraightThrough [2025-04-16 09:40:46,436][ERROR][ThreadPoolExecutor-0_2][traffic.py:1434] 未实现指标函数: SpeedLimitViolation [2025-04-16 09:40:46,436][ERROR][ThreadPoolExecutor-0_2][traffic.py:1434] 未实现指标函数: MinimumSpeedLimitViolation [2025-04-16 09:40:46,436][ERROR][ThreadPoolExecutor-0_2][traffic.py:1434] 未实现指标函数: noUTurnViolation [2025-04-16 09:41:12,092][INFO][ThreadPoolExecutor-0_2][traffic.py:1447] 合规性指标计算结果:{'urbanExpresswayOrHighwaySpeedOverLimit50': 0, 'urbanExpresswayOrHighwayDrivingLaneStopped': 0, 'urbanExpresswayEmergencyLaneDriving': 0, 'trafficSignalViolation': 0, 'urbanExpresswayOrHighwaySpeedOverLimit20to50': 0, 'generalRoadSpeedOverLimit50': 743, 'generalRoadSpeedOverLimit20to50': 6, 'illegalDrivingOrParkingAtCrossroads': 0, 'overtake_on_right': 0, 'overtake_when_turn_around': np.int64(0), 'overtake_when_passing_car': 0, 'overtake_in_forbid_lane': 0, 'overtake_in_ramp': 0, 'overtake_in_tunnel': 0, 'overtake_on_accelerate_lane': 0, 'overtake_on_decelerate_lane': 0, 'overtake_in_different_senerios': 0, 'slowdown_down_in_crosswalk': 0, 'avoid_pedestrian_in_crosswalk': 0, 'avoid_pedestrian_in_the_road': 0, 'urbanExpresswayOrHighwaySpeedOverLimit0to20': 0, 'urbanExpresswayOrHighwayRideLaneDivider': 0, 'generalRoadIrregularLaneUse': 0} [2025-04-16 09:47:36,624][INFO][MainThread][evaluator_optimized.py:102] 成功加载内置指标配置: D:\Cicv\招远\zhaoyuan0410\config\metrics_config.yaml [2025-04-16 09:47:36,625][INFO][MainThread][evaluator_optimized.py:112] 成功加载自定义指标配置: D:\Cicv\招远\zhaoyuan0410\test\custom_metrics_config.yaml [2025-04-16 09:47:36,978][WARNING][MainThread][evaluator_optimized.py:199] 自定义指标脚本 metric_safety_safeTime_CustomTTC.py 缺少 evaluate 函数 [2025-04-16 09:47:36,978][INFO][MainThread][evaluator_optimized.py:205] 成功加载自定义指标脚本: metric_user_safeTime_CustomTTC.py [2025-04-16 09:47:37,056][INFO][ThreadPoolExecutor-0_0][safety.py:61] 评比的安全指标列表:['TTC', 'MTTC', 'THW', 'LonSD', 'LatSD', 'BTN', 'collisionRisk', 'collisionSeverity'] [2025-04-16 09:47:37,056][WARNING][ThreadPoolExecutor-0_0][safety.py:72] 未实现安全指标函数: calculate_lonsd [2025-04-16 09:47:37,056][WARNING][ThreadPoolExecutor-0_0][safety.py:72] 未实现安全指标函数: calculate_latsd [2025-04-16 09:47:37,056][WARNING][ThreadPoolExecutor-0_0][safety.py:72] 未实现安全指标函数: calculate_btn [2025-04-16 09:47:37,056][WARNING][ThreadPoolExecutor-0_0][safety.py:72] 未实现安全指标函数: calculate_collisionrisk [2025-04-16 09:47:37,056][WARNING][ThreadPoolExecutor-0_0][safety.py:72] 未实现安全指标函数: calculate_collisionseverity [2025-04-16 09:47:37,056][INFO][ThreadPoolExecutor-0_0][safety.py:85] 安全指标计算结果:{'TTC': 3.5, 'MTTC': 4.2, 'THW': 2.1} [2025-04-16 09:47:37,056][INFO][ThreadPoolExecutor-0_1][comfort.py:130] 评比的舒适性指标列表:['Weaving', 'shake', 'cadence', 'slamBrake', 'slamAccelerate'] [2025-04-16 09:47:37,056][ERROR][ThreadPoolExecutor-0_1][comfort.py:140] 未实现指标函数: Weaving [2025-04-16 09:47:37,057][INFO][ThreadPoolExecutor-0_0][traffic.py:1424] 评比的合规性指标列表:['urbanExpresswayOrHighwaySpeedOverLimit50', 'higwayreverse', 'higwayDrivingAgainst', 'urbanExpresswayOrHighwayDrivingLaneStopped', 'highwayEmergencyLaneStopped', 'urbanExpresswayEmergencyLaneDriving', 'trafficSignalViolation', 'urbanExpresswayOrHighwaySpeedOverLimit20to50', 'generalRoadSpeedOverLimit50', 'generalRoadSpeedOverLimit20to50', 'UrbanExpresswayOrHighwaySpeedUnderLimit', 'illegalDrivingOrParkingAtCrossroads', 'overtake_on_right', 'overtake_when_turn_around', 'overtake_when_passing_car', 'overtake_in_forbid_lane', 'overtake_in_ramp', 'overtake_in_tunnel', 'overtake_on_accelerate_lane', 'overtake_on_decelerate_lane', 'overtake_in_different_senerios', 'slow_down_in_crosswalk', 'avoid_pedestrian_in_crosswalk', 'avoid_pedestrian_in_the_road', 'aviod_pedestrian_when_turning', 'NoStraightThrough', 'SpeedLimitViolation', 'MinimumSpeedLimitViolation', 'noUTurnViolation', 'urbanExpresswayOrHighwaySpeedOverLimit0to20', 'urbanExpresswayOrHighwayRideLaneDivider', 'generalRoadIrregularLaneUse'] [2025-04-16 09:47:37,057][ERROR][ThreadPoolExecutor-0_0][traffic.py:1434] 未实现指标函数: higwayreverse [2025-04-16 09:47:37,057][ERROR][ThreadPoolExecutor-0_0][traffic.py:1434] 未实现指标函数: higwayDrivingAgainst [2025-04-16 09:47:37,057][ERROR][ThreadPoolExecutor-0_0][traffic.py:1434] 未实现指标函数: highwayEmergencyLaneStopped [2025-04-16 09:47:37,057][ERROR][ThreadPoolExecutor-0_0][traffic.py:1434] 未实现指标函数: UrbanExpresswayOrHighwaySpeedUnderLimit [2025-04-16 09:47:37,057][ERROR][ThreadPoolExecutor-0_0][traffic.py:1434] 未实现指标函数: aviod_pedestrian_when_turning [2025-04-16 09:47:37,057][ERROR][ThreadPoolExecutor-0_0][traffic.py:1434] 未实现指标函数: NoStraightThrough [2025-04-16 09:47:37,057][ERROR][ThreadPoolExecutor-0_0][traffic.py:1434] 未实现指标函数: SpeedLimitViolation [2025-04-16 09:47:37,057][ERROR][ThreadPoolExecutor-0_0][traffic.py:1434] 未实现指标函数: MinimumSpeedLimitViolation [2025-04-16 09:47:37,057][ERROR][ThreadPoolExecutor-0_0][traffic.py:1434] 未实现指标函数: noUTurnViolation [2025-04-16 09:47:37,058][INFO][ThreadPoolExecutor-0_2][efficient.py:107] 评比的高效性指标列表:['maxSpeed', 'deviationSpeed', 'averagedSpeed', 'stopDuration'] [2025-04-16 09:47:37,058][INFO][ThreadPoolExecutor-0_3][function.py:527] 评比的功能指标列表:['latestWarningDistance_TTC', 'latestWarningDistance'] [2025-04-16 09:47:37,059][ERROR][ThreadPoolExecutor-0_3][function.py:538] 未实现指标函数: latestWarningDistance_TTC [2025-04-16 09:47:37,059][ERROR][ThreadPoolExecutor-0_3][function.py:538] 未实现指标函数: latestWarningDistance [2025-04-16 09:47:37,059][INFO][ThreadPoolExecutor-0_3][function.py:552] 功能指标计算结果:{} [2025-04-16 09:47:37,062][INFO][MainThread][score.py:38] 模块名称：safety [2025-04-16 09:47:37,062][INFO][MainThread][score.py:39] 模块配置：{'name': 'safety', 'priority': 0, 'safeTime': {'name': 'safetime', 'priority': 0, 'TTC': {'name': 'TTC', 'priority': 0, 'max': 2000.0, 'min': 2.86}, 'MTTC': {'name': 'MTTC', 'priority': 0, 'max': 2000.0, 'min': 3.0}, 'THW': {'name': 'THW', 'priority': 0, 'max': 2000.0, 'min': 1.5}, 'CustomTTC': {'name': 'CustomTTC', 'priority': 0, 'max': 20.0, 'min': 3.5}}, 'safeDistance': {'name': 'safeDistance', 'priority': 0, 'LonSD': {'name': 'LonSD', 'priority': 0, 'max': 2000.0, 'min': 10.0}, 'LatSD': {'name': 'LatSD', 'priority': 0, 'max': 2000.0, 'min': 2.0}}, 'safeAcceleration': {'name': 'safeAcceleration', 'priority': 0, 'BTN': {'name': 'BTN', 'priority': 0, 'max': 1.0, 'min': -2000.0}}, 'safeProbability': {'name': 'safeProbability', 'priority': 0, 'collisionRisk': {'name': 'collisionRisk', 'priority': 0, 'max': 10.0, 'min': 0.0}, 'collisionSeverity': {'name': 'collisionSeverity', 'priority': 0, 'max': 10.0, 'min': 0.0}}} [2025-04-16 09:47:37,062][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5} [2025-04-16 09:47:37,067][INFO][ThreadPoolExecutor-0_2][efficient.py:130] 高效性指标计算结果:{'maxSpeed': 31.207681362126216, 'deviationSpeed': 157.463473620643, 'averagedSpeed': 17.53781182427396, 'stopDuration': 1.7350000143051147, 'stopCount': 2} [2025-04-16 09:47:37,083][INFO][MainThread][score.py:38] 模块名称：comfort [2025-04-16 09:47:37,083][INFO][MainThread][score.py:39] 模块配置：{'name': 'comfort', 'priority': 0, 'comfortLat': {'name': 'comfortLat', 'priority': 0, 'weaving': {'name': 'Weaving', 'priority': 0, 'max': 0, 'min': 0}, 'shake': {'name': 'shake', 'priority': 0, 'max': 0, 'min': 0}}, 'comfortLon': {'name': 'comfortLon', 'priority': 0, 'cadence': {'name': 'cadence', 'priority': 0, 'max': 0, 'min': 0}, 'slamBrake': {'name': 'slamBrake', 'priority': 0, 'max': 0, 'min': 0}, 'slamAccelerate': {'name': 'slamAccelerate', 'priority': 0, 'max': 0, 'min': 0}}} [2025-04-16 09:47:37,083][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5} [2025-04-16 09:47:37,401][INFO][ThreadPoolExecutor-0_1][comfort.py:153] 舒适性指标计算结果:{'shake': 2.0, 'cadence': 0.0, 'slamBrake': 1.0, 'slamAccelerate': 1.0} [2025-04-16 09:47:37,401][INFO][MainThread][score.py:38] 模块名称：traffic [2025-04-16 09:47:37,401][INFO][MainThread][score.py:39] 模块配置：{'name': 'traffic', 'priority': 0, 'majorViolation': {'name': 'majorViolation', 'priority': 0, 'urbanExpresswayOrHighwaySpeedOverLimit50': {'name': 'urbanExpresswayOrHighwaySpeedOverLimit50', 'priority': 0, 'max': 0, 'min': 0}, 'urbanExpresswayOrHighwayReverse': {'name': 'higwayreverse', 'priority': 0, 'max': 0, 'min': 0}, 'urbanExpresswayOrHighwayDrivingAgainst': {'name': 'higwayDrivingAgainst', 'priority': 0, 'max': 0, 'min': 0}}, 'seriousViolation': {'name': 'seriousViolation', 'priority': 0, 'urbanExpresswayOrHighwayDrivingLaneStopped': {'name': 'urbanExpresswayOrHighwayDrivingLaneStopped', 'priority': 0, 'max': 0, 'min': 0}, 'urbanExpresswayOrHighwayEmergencyLaneStopped': {'name': 'highwayEmergencyLaneStopped', 'priority': 0, 'max': 0, 'min': 0}}, 'dangerousViolation': {'name': 'dangerousViolation', 'priority': 0, 'urbanExpresswayEmergencyLaneDriving': {'name': 'urbanExpresswayEmergencyLaneDriving', 'priority': 0, 'max': 0, 'min': 0}, 'trafficSignalViolation': {'name': 'trafficSignalViolation', 'priority': 0, 'max': 0, 'min': 0}, 'urbanExpresswayOrHighwaySpeedOverLimit20to50': {'name': 'urbanExpresswayOrHighwaySpeedOverLimit20to50', 'priority': 0, 'max': 0, 'min': 0}, 'generalRoadSpeedOverLimit50': {'name': 'generalRoadSpeedOverLimit50', 'priority': 0, 'max': 0, 'min': 0}}, 'generalViolation': {'name': 'generalViolation', 'priority': 0, 'generalRoadSpeedOverLimit20to50': {'name': 'generalRoadSpeedOverLimit20to50', 'priority': 0, 'max': 0, 'min': 0}, 'urbanExpresswayOrHighwaySpeedUnderLimit': {'name': 'UrbanExpresswayOrHighwaySpeedUnderLimit', 'priority': 0, 'max': 0, 'min': 0}, 'illegalDrivingOrParkingAtCrossroads': {'name': 'illegalDrivingOrParkingAtCrossroads', 'priority': 0, 'max': 0, 'min': 0}, 'overtake_on_right': {'name': 'overtake_on_right', 'priority': 0, 'max': 0, 'min': 0}, 'overtake_when_turn_around': {'name': 'overtake_when_turn_around', 'priority': 0, 'max': 0, 'min': 0}, 'overtake_when_passing_car': {'name': 'overtake_when_passing_car', 'priority': 0, 'max': 0, 'min': 0}, 'overtake_in_forbid_lane': {'name': 'overtake_in_forbid_lane', 'priority': 0, 'max': 0, 'min': 0}, 'overtake_in_ramp': {'name': 'overtake_in_ramp', 'priority': 0, 'max': 0, 'min': 0}, 'overtake_in_tunnel': {'name': 'overtake_in_tunnel', 'priority': 0, 'max': 0, 'min': 0}, 'overtake_on_accelerate_lane': {'name': 'overtake_on_accelerate_lane', 'priority': 0, 'max': 0, 'min': 0}, 'overtake_on_decelerate_lane': {'name': 'overtake_on_decelerate_lane', 'priority': 0, 'max': 0, 'min': 0}, 'overtake_in_different_senerios': {'name': 'overtake_in_different_senerios', 'priority': 0, 'max': 0, 'min': 0}, 'slow_down_in_crosswalk': {'name': 'slow_down_in_crosswalk', 'priority': 0, 'max': 0, 'min': 0}, 'avoid_pedestrian_in_crosswalk': {'name': 'avoid_pedestrian_in_crosswalk', 'priority': 0, 'max': 0, 'min': 0}, 'avoid_pedestrian_in_the_road': {'name': 'avoid_pedestrian_in_the_road', 'priority': 0, 'max': 0, 'min': 0}, 'aviod_pedestrian_when_turning': {'name': 'aviod_pedestrian_when_turning', 'priority': 0, 'max': 0, 'min': 0}, 'NoStraightThrough': {'name': 'NoStraightThrough', 'priority': 0, 'max': 0, 'min': 0}, 'SpeedLimitViolation': {'name': 'SpeedLimitViolation', 'priority': 0, 'max': 0, 'min': 0}, 'MinimumSpeedLimitViolation': {'name': 'MinimumSpeedLimitViolation', 'priority': 0, 'max': 0, 'min': 0}}, 'minorViolation': {'name': 'minorViolation', 'priority': 0, 'noUTurnViolation': {'name': 'noUTurnViolation', 'priority': 0, 'max': 0, 'min': 0}}, 'warningViolation': {'name': 'warningViolation', 'priority': 0, 'urbanExpresswayOrHighwaySpeedOverLimit0to20': {'name': 'urbanExpresswayOrHighwaySpeedOverLimit0to20', 'priority': 0, 'max': 0, 'min': 0}, 'urbanExpresswayOrHighwayRideLaneDivider': {'name': 'urbanExpresswayOrHighwayRideLaneDivider', 'priority': 0, 'max': 0, 'min': 0}, 'generalRoadIrregularLaneUse': {'name': 'generalRoadIrregularLaneUse', 'priority': 0, 'max': 0, 'min': 0}}} [2025-04-16 09:47:37,401][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5} [2025-04-16 09:47:38,256][INFO][ThreadPoolExecutor-0_0][traffic.py:1447] 合规性指标计算结果:{'urbanExpresswayOrHighwaySpeedOverLimit50': 0, 'urbanExpresswayOrHighwayDrivingLaneStopped': 0, 'urbanExpresswayEmergencyLaneDriving': 0, 'trafficSignalViolation': 0, 'urbanExpresswayOrHighwaySpeedOverLimit20to50': 0, 'generalRoadSpeedOverLimit50': 743, 'generalRoadSpeedOverLimit20to50': 6, 'illegalDrivingOrParkingAtCrossroads': 0, 'overtake_on_right': 0, 'overtake_when_turn_around': np.int64(0), 'overtake_when_passing_car': 0, 'overtake_in_forbid_lane': 0, 'overtake_in_ramp': 0, 'overtake_in_tunnel': 0, 'overtake_on_accelerate_lane': 0, 'overtake_on_decelerate_lane': 0, 'overtake_in_different_senerios': 0, 'slowdown_down_in_crosswalk': 0, 'avoid_pedestrian_in_crosswalk': 0, 'avoid_pedestrian_in_the_road': 0, 'urbanExpresswayOrHighwaySpeedOverLimit0to20': 0, 'urbanExpresswayOrHighwayRideLaneDivider': 0, 'generalRoadIrregularLaneUse': 0} [2025-04-16 09:47:38,265][INFO][MainThread][score.py:38] 模块名称：efficient [2025-04-16 09:47:38,265][INFO][MainThread][score.py:39] 模块配置：{'name': 'efficient', 'priority': 0, 'drivingMode': {'name': 'drivingMode', 'priority': 0, 'max_speed': {'name': 'maxSpeed', 'priority': 0, 'max': 0.0, 'min': 0.0}, 'devation_speed': {'name': 'deviationSpeed', 'priority': 0, 'max': 0.0, 'min': 0.0}, 'averagedSpeed': {'name': 'averagedSpeed', 'priority': 0, 'max': 80.0, 'min': 30.0}}, 'parkingMode': {'name': 'parkingMode', 'priority': 0, 'stopDuration': {'name': 'stopDuration', 'priority': 0, 'max': 1, 'min': 0}}} [2025-04-16 09:47:38,265][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5} [2025-04-16 09:47:38,265][INFO][MainThread][score.py:38] 模块名称：function [2025-04-16 09:47:38,265][INFO][MainThread][score.py:39] 模块配置：{'name': 'function', 'priority': 0, 'LKA': {'name': 'LKA', 'priority': 0, 'latestWarningDistance_TTC': {'name': 'latestWarningDistance_TTC', 'priority': 0, 'max': 5, 'min': 1.98}, 'latestWarningDistance': {'name': 'latestWarningDistance', 'priority': 0, 'max': 150, 'min': 0}}} [2025-04-16 09:47:38,265][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5} [2025-04-16 09:47:38,266][INFO][MainThread][score.py:38] 模块名称：user [2025-04-16 09:47:38,266][INFO][MainThread][score.py:39] 模块配置：{'name': 'user', 'priority': 0, 'safeTime': {'name': 'safetime', 'priority': 0, 'CustomTTC': {'name': 'CustomTTC', 'priority': 0, 'max': 20.0, 'min': 3.5}}} [2025-04-16 09:47:38,266][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5} [2025-04-16 09:47:38,266][INFO][MainThread][evaluator_optimized.py:328] 评测自定义指标: user.safetime.CustomTTC [2025-04-16 09:48:56,211][INFO][MainThread][evaluator_optimized.py:102] 成功加载内置指标配置: D:\Cicv\招远\zhaoyuan0410\config\metrics_config.yaml [2025-04-16 09:48:56,212][INFO][MainThread][evaluator_optimized.py:112] 成功加载自定义指标配置: D:\Cicv\招远\zhaoyuan0410\test\custom_metrics_config.yaml [2025-04-16 09:48:56,534][WARNING][MainThread][evaluator_optimized.py:199] 自定义指标脚本 metric_safety_safeTime_CustomTTC.py 缺少 evaluate 函数 [2025-04-16 09:48:56,534][INFO][MainThread][evaluator_optimized.py:205] 成功加载自定义指标脚本: metric_user_safeTime_CustomTTC.py [2025-04-16 09:48:56,612][INFO][ThreadPoolExecutor-0_0][safety.py:61] 评比的安全指标列表:['TTC', 'MTTC', 'THW', 'LonSD', 'LatSD', 'BTN', 'collisionRisk', 'collisionSeverity'] [2025-04-16 09:48:56,612][WARNING][ThreadPoolExecutor-0_0][safety.py:72] 未实现安全指标函数: calculate_lonsd [2025-04-16 09:48:56,612][WARNING][ThreadPoolExecutor-0_0][safety.py:72] 未实现安全指标函数: calculate_latsd [2025-04-16 09:48:56,612][WARNING][ThreadPoolExecutor-0_0][safety.py:72] 未实现安全指标函数: calculate_btn [2025-04-16 09:48:56,612][WARNING][ThreadPoolExecutor-0_0][safety.py:72] 未实现安全指标函数: calculate_collisionrisk [2025-04-16 09:48:56,612][WARNING][ThreadPoolExecutor-0_0][safety.py:72] 未实现安全指标函数: calculate_collisionseverity [2025-04-16 09:48:56,612][INFO][ThreadPoolExecutor-0_0][safety.py:85] 安全指标计算结果:{'TTC': 3.5, 'MTTC': 4.2, 'THW': 2.1} [2025-04-16 09:48:56,613][INFO][ThreadPoolExecutor-0_0][comfort.py:130] 评比的舒适性指标列表:['weaving', 'shake', 'cadence', 'slamBrake', 'slamAccelerate'] [2025-04-16 09:48:56,613][INFO][ThreadPoolExecutor-0_1][traffic.py:1424] 评比的合规性指标列表:['urbanExpresswayOrHighwaySpeedOverLimit50', 'higwayreverse', 'higwayDrivingAgainst', 'urbanExpresswayOrHighwayDrivingLaneStopped', 'highwayEmergencyLaneStopped', 'urbanExpresswayEmergencyLaneDriving', 'trafficSignalViolation', 'urbanExpresswayOrHighwaySpeedOverLimit20to50', 'generalRoadSpeedOverLimit50', 'generalRoadSpeedOverLimit20to50', 'UrbanExpresswayOrHighwaySpeedUnderLimit', 'illegalDrivingOrParkingAtCrossroads', 'overtake_on_right', 'overtake_when_turn_around', 'overtake_when_passing_car', 'overtake_in_forbid_lane', 'overtake_in_ramp', 'overtake_in_tunnel', 'overtake_on_accelerate_lane', 'overtake_on_decelerate_lane', 'overtake_in_different_senerios', 'slow_down_in_crosswalk', 'avoid_pedestrian_in_crosswalk', 'avoid_pedestrian_in_the_road', 'aviod_pedestrian_when_turning', 'NoStraightThrough', 'SpeedLimitViolation', 'MinimumSpeedLimitViolation', 'noUTurnViolation', 'urbanExpresswayOrHighwaySpeedOverLimit0to20', 'urbanExpresswayOrHighwayRideLaneDivider', 'generalRoadIrregularLaneUse'] [2025-04-16 09:48:56,613][ERROR][ThreadPoolExecutor-0_1][traffic.py:1434] 未实现指标函数: higwayreverse [2025-04-16 09:48:56,613][ERROR][ThreadPoolExecutor-0_1][traffic.py:1434] 未实现指标函数: higwayDrivingAgainst [2025-04-16 09:48:56,613][ERROR][ThreadPoolExecutor-0_1][traffic.py:1434] 未实现指标函数: highwayEmergencyLaneStopped [2025-04-16 09:48:56,613][ERROR][ThreadPoolExecutor-0_1][traffic.py:1434] 未实现指标函数: UrbanExpresswayOrHighwaySpeedUnderLimit [2025-04-16 09:48:56,614][ERROR][ThreadPoolExecutor-0_1][traffic.py:1434] 未实现指标函数: aviod_pedestrian_when_turning [2025-04-16 09:48:56,614][ERROR][ThreadPoolExecutor-0_1][traffic.py:1434] 未实现指标函数: NoStraightThrough [2025-04-16 09:48:56,614][ERROR][ThreadPoolExecutor-0_1][traffic.py:1434] 未实现指标函数: SpeedLimitViolation [2025-04-16 09:48:56,614][ERROR][ThreadPoolExecutor-0_1][traffic.py:1434] 未实现指标函数: MinimumSpeedLimitViolation [2025-04-16 09:48:56,614][ERROR][ThreadPoolExecutor-0_1][traffic.py:1434] 未实现指标函数: noUTurnViolation [2025-04-16 09:48:56,615][INFO][ThreadPoolExecutor-0_2][efficient.py:107] 评比的高效性指标列表:['maxSpeed', 'deviationSpeed', 'averagedSpeed', 'stopDuration'] [2025-04-16 09:48:56,615][INFO][ThreadPoolExecutor-0_3][function.py:527] 评比的功能指标列表:['latestWarningDistance_TTC', 'latestWarningDistance'] [2025-04-16 09:48:56,616][ERROR][ThreadPoolExecutor-0_3][function.py:538] 未实现指标函数: latestWarningDistance_TTC [2025-04-16 09:48:56,616][INFO][MainThread][score.py:38] 模块名称：safety [2025-04-16 09:48:56,616][INFO][MainThread][score.py:39] 模块配置：{'name': 'safety', 'priority': 0, 'safeTime': {'name': 'safetime', 'priority': 0, 'TTC': {'name': 'TTC', 'priority': 0, 'max': 2000.0, 'min': 2.86}, 'MTTC': {'name': 'MTTC', 'priority': 0, 'max': 2000.0, 'min': 3.0}, 'THW': {'name': 'THW', 'priority': 0, 'max': 2000.0, 'min': 1.5}, 'CustomTTC': {'name': 'CustomTTC', 'priority': 0, 'max': 20.0, 'min': 3.5}}, 'safeDistance': {'name': 'safeDistance', 'priority': 0, 'LonSD': {'name': 'LonSD', 'priority': 0, 'max': 2000.0, 'min': 10.0}, 'LatSD': {'name': 'LatSD', 'priority': 0, 'max': 2000.0, 'min': 2.0}}, 'safeAcceleration': {'name': 'safeAcceleration', 'priority': 0, 'BTN': {'name': 'BTN', 'priority': 0, 'max': 1.0, 'min': -2000.0}}, 'safeProbability': {'name': 'safeProbability', 'priority': 0, 'collisionRisk': {'name': 'collisionRisk', 'priority': 0, 'max': 10.0, 'min': 0.0}, 'collisionSeverity': {'name': 'collisionSeverity', 'priority': 0, 'max': 10.0, 'min': 0.0}}} [2025-04-16 09:48:56,616][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5} [2025-04-16 09:48:56,616][ERROR][ThreadPoolExecutor-0_3][function.py:538] 未实现指标函数: latestWarningDistance [2025-04-16 09:48:56,616][INFO][ThreadPoolExecutor-0_3][function.py:552] 功能指标计算结果:{} [2025-04-16 09:48:56,618][INFO][ThreadPoolExecutor-0_2][efficient.py:130] 高效性指标计算结果:{'maxSpeed': 31.207681362126216, 'deviationSpeed': 157.463473620643, 'averagedSpeed': 17.53781182427396, 'stopDuration': 1.7350000143051147, 'stopCount': 2} [2025-04-16 09:48:56,641][INFO][MainThread][score.py:38] 模块名称：comfort [2025-04-16 09:48:56,641][INFO][MainThread][score.py:39] 模块配置：{'name': 'comfort', 'priority': 0, 'comfortLat': {'name': 'comfortLat', 'priority': 0, 'weaving': {'name': 'weaving', 'priority': 0, 'max': 0, 'min': 0}, 'shake': {'name': 'shake', 'priority': 0, 'max': 0, 'min': 0}}, 'comfortLon': {'name': 'comfortLon', 'priority': 0, 'cadence': {'name': 'cadence', 'priority': 0, 'max': 0, 'min': 0}, 'slamBrake': {'name': 'slamBrake', 'priority': 0, 'max': 0, 'min': 0}, 'slamAccelerate': {'name': 'slamAccelerate', 'priority': 0, 'max': 0, 'min': 0}}} [2025-04-16 09:48:56,641][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5} [2025-04-16 09:48:56,993][INFO][ThreadPoolExecutor-0_0][comfort.py:153] 舒适性指标计算结果:{'weaving': 197.0, 'shake': 2.0, 'cadence': 0.0, 'slamBrake': 1.0, 'slamAccelerate': 1.0} [2025-04-16 09:48:56,995][INFO][MainThread][score.py:38] 模块名称：traffic [2025-04-16 09:48:56,995][INFO][MainThread][score.py:39] 模块配置：{'name': 'traffic', 'priority': 0, 'majorViolation': {'name': 'majorViolation', 'priority': 0, 'urbanExpresswayOrHighwaySpeedOverLimit50': {'name': 'urbanExpresswayOrHighwaySpeedOverLimit50', 'priority': 0, 'max': 0, 'min': 0}, 'urbanExpresswayOrHighwayReverse': {'name': 'higwayreverse', 'priority': 0, 'max': 0, 'min': 0}, 'urbanExpresswayOrHighwayDrivingAgainst': {'name': 'higwayDrivingAgainst', 'priority': 0, 'max': 0, 'min': 0}}, 'seriousViolation': {'name': 'seriousViolation', 'priority': 0, 'urbanExpresswayOrHighwayDrivingLaneStopped': {'name': 'urbanExpresswayOrHighwayDrivingLaneStopped', 'priority': 0, 'max': 0, 'min': 0}, 'urbanExpresswayOrHighwayEmergencyLaneStopped': {'name': 'highwayEmergencyLaneStopped', 'priority': 0, 'max': 0, 'min': 0}}, 'dangerousViolation': {'name': 'dangerousViolation', 'priority': 0, 'urbanExpresswayEmergencyLaneDriving': {'name': 'urbanExpresswayEmergencyLaneDriving', 'priority': 0, 'max': 0, 'min': 0}, 'trafficSignalViolation': {'name': 'trafficSignalViolation', 'priority': 0, 'max': 0, 'min': 0}, 'urbanExpresswayOrHighwaySpeedOverLimit20to50': {'name': 'urbanExpresswayOrHighwaySpeedOverLimit20to50', 'priority': 0, 'max': 0, 'min': 0}, 'generalRoadSpeedOverLimit50': {'name': 'generalRoadSpeedOverLimit50', 'priority': 0, 'max': 0, 'min': 0}}, 'generalViolation': {'name': 'generalViolation', 'priority': 0, 'generalRoadSpeedOverLimit20to50': {'name': 'generalRoadSpeedOverLimit20to50', 'priority': 0, 'max': 0, 'min': 0}, 'urbanExpresswayOrHighwaySpeedUnderLimit': {'name': 'UrbanExpresswayOrHighwaySpeedUnderLimit', 'priority': 0, 'max': 0, 'min': 0}, 'illegalDrivingOrParkingAtCrossroads': {'name': 'illegalDrivingOrParkingAtCrossroads', 'priority': 0, 'max': 0, 'min': 0}, 'overtake_on_right': {'name': 'overtake_on_right', 'priority': 0, 'max': 0, 'min': 0}, 'overtake_when_turn_around': {'name': 'overtake_when_turn_around', 'priority': 0, 'max': 0, 'min': 0}, 'overtake_when_passing_car': {'name': 'overtake_when_passing_car', 'priority': 0, 'max': 0, 'min': 0}, 'overtake_in_forbid_lane': {'name': 'overtake_in_forbid_lane', 'priority': 0, 'max': 0, 'min': 0}, 'overtake_in_ramp': {'name': 'overtake_in_ramp', 'priority': 0, 'max': 0, 'min': 0}, 'overtake_in_tunnel': {'name': 'overtake_in_tunnel', 'priority': 0, 'max': 0, 'min': 0}, 'overtake_on_accelerate_lane': {'name': 'overtake_on_accelerate_lane', 'priority': 0, 'max': 0, 'min': 0}, 'overtake_on_decelerate_lane': {'name': 'overtake_on_decelerate_lane', 'priority': 0, 'max': 0, 'min': 0}, 'overtake_in_different_senerios': {'name': 'overtake_in_different_senerios', 'priority': 0, 'max': 0, 'min': 0}, 'slow_down_in_crosswalk': {'name': 'slow_down_in_crosswalk', 'priority': 0, 'max': 0, 'min': 0}, 'avoid_pedestrian_in_crosswalk': {'name': 'avoid_pedestrian_in_crosswalk', 'priority': 0, 'max': 0, 'min': 0}, 'avoid_pedestrian_in_the_road': {'name': 'avoid_pedestrian_in_the_road', 'priority': 0, 'max': 0, 'min': 0}, 'aviod_pedestrian_when_turning': {'name': 'aviod_pedestrian_when_turning', 'priority': 0, 'max': 0, 'min': 0}, 'NoStraightThrough': {'name': 'NoStraightThrough', 'priority': 0, 'max': 0, 'min': 0}, 'SpeedLimitViolation': {'name': 'SpeedLimitViolation', 'priority': 0, 'max': 0, 'min': 0}, 'MinimumSpeedLimitViolation': {'name': 'MinimumSpeedLimitViolation', 'priority': 0, 'max': 0, 'min': 0}}, 'minorViolation': {'name': 'minorViolation', 'priority': 0, 'noUTurnViolation': {'name': 'noUTurnViolation', 'priority': 0, 'max': 0, 'min': 0}}, 'warningViolation': {'name': 'warningViolation', 'priority': 0, 'urbanExpresswayOrHighwaySpeedOverLimit0to20': {'name': 'urbanExpresswayOrHighwaySpeedOverLimit0to20', 'priority': 0, 'max': 0, 'min': 0}, 'urbanExpresswayOrHighwayRideLaneDivider': {'name': 'urbanExpresswayOrHighwayRideLaneDivider', 'priority': 0, 'max': 0, 'min': 0}, 'generalRoadIrregularLaneUse': {'name': 'generalRoadIrregularLaneUse', 'priority': 0, 'max': 0, 'min': 0}}} [2025-04-16 09:48:56,995][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5} [2025-04-16 09:48:57,860][INFO][ThreadPoolExecutor-0_1][traffic.py:1447] 合规性指标计算结果:{'urbanExpresswayOrHighwaySpeedOverLimit50': 0, 'urbanExpresswayOrHighwayDrivingLaneStopped': 0, 'urbanExpresswayEmergencyLaneDriving': 0, 'trafficSignalViolation': 0, 'urbanExpresswayOrHighwaySpeedOverLimit20to50': 0, 'generalRoadSpeedOverLimit50': 743, 'generalRoadSpeedOverLimit20to50': 6, 'illegalDrivingOrParkingAtCrossroads': 0, 'overtake_on_right': 0, 'overtake_when_turn_around': np.int64(0), 'overtake_when_passing_car': 0, 'overtake_in_forbid_lane': 0, 'overtake_in_ramp': 0, 'overtake_in_tunnel': 0, 'overtake_on_accelerate_lane': 0, 'overtake_on_decelerate_lane': 0, 'overtake_in_different_senerios': 0, 'slowdown_down_in_crosswalk': 0, 'avoid_pedestrian_in_crosswalk': 0, 'avoid_pedestrian_in_the_road': 0, 'urbanExpresswayOrHighwaySpeedOverLimit0to20': 0, 'urbanExpresswayOrHighwayRideLaneDivider': 0, 'generalRoadIrregularLaneUse': 0} [2025-04-16 09:48:57,864][INFO][MainThread][score.py:38] 模块名称：efficient [2025-04-16 09:48:57,864][INFO][MainThread][score.py:39] 模块配置：{'name': 'efficient', 'priority': 0, 'drivingMode': {'name': 'drivingMode', 'priority': 0, 'max_speed': {'name': 'maxSpeed', 'priority': 0, 'max': 0.0, 'min': 0.0}, 'devation_speed': {'name': 'deviationSpeed', 'priority': 0, 'max': 0.0, 'min': 0.0}, 'averagedSpeed': {'name': 'averagedSpeed', 'priority': 0, 'max': 80.0, 'min': 30.0}}, 'parkingMode': {'name': 'parkingMode', 'priority': 0, 'stopDuration': {'name': 'stopDuration', 'priority': 0, 'max': 1, 'min': 0}}} [2025-04-16 09:48:57,864][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5} [2025-04-16 09:48:57,864][INFO][MainThread][score.py:38] 模块名称：function [2025-04-16 09:48:57,864][INFO][MainThread][score.py:39] 模块配置：{'name': 'function', 'priority': 0, 'LKA': {'name': 'LKA', 'priority': 0, 'latestWarningDistance_TTC': {'name': 'latestWarningDistance_TTC', 'priority': 0, 'max': 5, 'min': 1.98}, 'latestWarningDistance': {'name': 'latestWarningDistance', 'priority': 0, 'max': 150, 'min': 0}}} [2025-04-16 09:48:57,864][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5} [2025-04-16 09:48:57,865][INFO][MainThread][score.py:38] 模块名称：user [2025-04-16 09:48:57,865][INFO][MainThread][score.py:39] 模块配置：{'name': 'user', 'priority': 0, 'safeTime': {'name': 'safetime', 'priority': 0, 'CustomTTC': {'name': 'CustomTTC', 'priority': 0, 'max': 20.0, 'min': 3.5}}} [2025-04-16 09:48:57,865][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5} [2025-04-16 09:48:57,865][INFO][MainThread][evaluator_optimized.py:328] 评测自定义指标: user.safetime.CustomTTC [2025-04-16 09:48:57,869][INFO][MainThread][evaluator_optimized.py:424] 评估报告已生成: D:\Cicv\招远\zhaoyuan0410\result\招远_report.json [2025-04-16 09:51:42,192][INFO][MainThread][evaluator_optimized.py:102] 成功加载内置指标配置: D:\Cicv\招远\zhaoyuan0410\config\metrics_config.yaml [2025-04-16 09:51:42,193][INFO][MainThread][evaluator_optimized.py:112] 成功加载自定义指标配置: D:\Cicv\招远\zhaoyuan0410\test\custom_metrics_config.yaml [2025-04-16 09:51:42,554][WARNING][MainThread][evaluator_optimized.py:199] 自定义指标脚本 metric_safety_safeTime_CustomTTC.py 缺少 evaluate 函数 [2025-04-16 09:51:42,554][INFO][MainThread][evaluator_optimized.py:205] 成功加载自定义指标脚本: metric_user_safeTime_CustomTTC.py [2025-04-16 09:51:42,629][INFO][ThreadPoolExecutor-0_0][safety.py:61] 评比的安全指标列表:['TTC', 'MTTC', 'THW', 'LonSD', 'LatSD', 'BTN', 'collisionRisk', 'collisionSeverity'] [2025-04-16 09:51:42,629][WARNING][ThreadPoolExecutor-0_0][safety.py:72] 未实现安全指标函数: calculate_lonsd [2025-04-16 09:51:42,629][WARNING][ThreadPoolExecutor-0_0][safety.py:72] 未实现安全指标函数: calculate_latsd [2025-04-16 09:51:42,629][WARNING][ThreadPoolExecutor-0_0][safety.py:72] 未实现安全指标函数: calculate_btn [2025-04-16 09:51:42,629][WARNING][ThreadPoolExecutor-0_0][safety.py:72] 未实现安全指标函数: calculate_collisionrisk [2025-04-16 09:51:42,629][WARNING][ThreadPoolExecutor-0_0][safety.py:72] 未实现安全指标函数: calculate_collisionseverity [2025-04-16 09:51:42,629][INFO][ThreadPoolExecutor-0_0][safety.py:85] 安全指标计算结果:{'TTC': 3.5, 'MTTC': 4.2, 'THW': 2.1} [2025-04-16 09:51:42,629][INFO][ThreadPoolExecutor-0_0][comfort.py:130] 评比的舒适性指标列表:['weaving', 'shake', 'cadence', 'slamBrake', 'slamAccelerate'] [2025-04-16 09:51:42,630][INFO][ThreadPoolExecutor-0_1][traffic.py:1424] 评比的合规性指标列表:['urbanExpresswayOrHighwaySpeedOverLimit50', 'higwayreverse', 'higwayDrivingAgainst', 'urbanExpresswayOrHighwayDrivingLaneStopped', 'highwayEmergencyLaneStopped', 'urbanExpresswayEmergencyLaneDriving', 'trafficSignalViolation', 'urbanExpresswayOrHighwaySpeedOverLimit20to50', 'generalRoadSpeedOverLimit50', 'generalRoadSpeedOverLimit20to50', 'UrbanExpresswayOrHighwaySpeedUnderLimit', 'illegalDrivingOrParkingAtCrossroads', 'overtake_on_right', 'overtake_when_turn_around', 'overtake_when_passing_car', 'overtake_in_forbid_lane', 'overtake_in_ramp', 'overtake_in_tunnel', 'overtake_on_accelerate_lane', 'overtake_on_decelerate_lane', 'overtake_in_different_senerios', 'slow_down_in_crosswalk', 'avoid_pedestrian_in_crosswalk', 'avoid_pedestrian_in_the_road', 'avoid_pedestrian_when_turning', 'NoStraightThrough', 'SpeedLimitViolation', 'MinimumSpeedLimitViolation', 'noUTurnViolation', 'urbanExpresswayOrHighwaySpeedOverLimit0to20', 'urbanExpresswayOrHighwayRideLaneDivider', 'generalRoadIrregularLaneUse'] [2025-04-16 09:51:42,630][ERROR][ThreadPoolExecutor-0_1][traffic.py:1434] 未实现指标函数: higwayreverse [2025-04-16 09:51:42,630][ERROR][ThreadPoolExecutor-0_1][traffic.py:1434] 未实现指标函数: higwayDrivingAgainst [2025-04-16 09:51:42,630][ERROR][ThreadPoolExecutor-0_1][traffic.py:1434] 未实现指标函数: highwayEmergencyLaneStopped [2025-04-16 09:51:42,630][ERROR][ThreadPoolExecutor-0_1][traffic.py:1434] 未实现指标函数: UrbanExpresswayOrHighwaySpeedUnderLimit [2025-04-16 09:51:42,630][ERROR][ThreadPoolExecutor-0_1][traffic.py:1434] 未实现指标函数: avoid_pedestrian_when_turning [2025-04-16 09:51:42,630][ERROR][ThreadPoolExecutor-0_1][traffic.py:1434] 未实现指标函数: NoStraightThrough [2025-04-16 09:51:42,630][ERROR][ThreadPoolExecutor-0_1][traffic.py:1434] 未实现指标函数: SpeedLimitViolation [2025-04-16 09:51:42,630][ERROR][ThreadPoolExecutor-0_1][traffic.py:1434] 未实现指标函数: MinimumSpeedLimitViolation [2025-04-16 09:51:42,630][ERROR][ThreadPoolExecutor-0_1][traffic.py:1434] 未实现指标函数: noUTurnViolation [2025-04-16 09:51:42,632][INFO][ThreadPoolExecutor-0_2][efficient.py:107] 评比的高效性指标列表:['maxSpeed', 'deviationSpeed', 'averagedSpeed', 'stopDuration'] [2025-04-16 09:51:42,633][INFO][ThreadPoolExecutor-0_3][function.py:527] 评比的功能指标列表:['latestWarningDistance_TTC_LST', 'earliestWarningDistance_TTC_LST', 'latestWarningDistance_LST', 'earliestWarningDistance_LST'] [2025-04-16 09:51:42,634][INFO][MainThread][score.py:38] 模块名称：safety [2025-04-16 09:51:42,634][INFO][MainThread][score.py:39] 模块配置：{'name': 'safety', 'priority': 0, 'safeTime': {'name': 'safetime', 'priority': 0, 'TTC': {'name': 'TTC', 'priority': 0, 'max': 2000.0, 'min': 2.86}, 'MTTC': {'name': 'MTTC', 'priority': 0, 'max': 2000.0, 'min': 3.0}, 'THW': {'name': 'THW', 'priority': 0, 'max': 2000.0, 'min': 1.5}, 'CustomTTC': {'name': 'CustomTTC', 'priority': 0, 'max': 20.0, 'min': 3.5}}, 'safeDistance': {'name': 'safeDistance', 'priority': 0, 'LonSD': {'name': 'LonSD', 'priority': 0, 'max': 2000.0, 'min': 10.0}, 'LatSD': {'name': 'LatSD', 'priority': 0, 'max': 2000.0, 'min': 2.0}}, 'safeAcceleration': {'name': 'safeAcceleration', 'priority': 0, 'BTN': {'name': 'BTN', 'priority': 0, 'max': 1.0, 'min': -2000.0}}, 'safeProbability': {'name': 'safeProbability', 'priority': 0, 'collisionRisk': {'name': 'collisionRisk', 'priority': 0, 'max': 10.0, 'min': 0.0}, 'collisionSeverity': {'name': 'collisionSeverity', 'priority': 0, 'max': 10.0, 'min': 0.0}}} [2025-04-16 09:51:42,634][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5} [2025-04-16 09:51:42,635][INFO][ThreadPoolExecutor-0_2][efficient.py:130] 高效性指标计算结果:{'maxSpeed': 31.207681362126216, 'deviationSpeed': 157.463473620643, 'averagedSpeed': 17.53781182427396, 'stopDuration': 1.7350000143051147, 'stopCount': 2} [2025-04-16 09:51:42,660][INFO][ThreadPoolExecutor-0_3][function.py:552] 功能指标计算结果:{'latestWarningDistance_TTC_LST': -0.0, 'earliestWarningDistance_TTC_LST': -0.0, 'latestWarningDistance_LST': 0.0, 'earliestWarningDistance_LST': 0.0} [2025-04-16 09:51:42,662][INFO][MainThread][score.py:38] 模块名称：comfort [2025-04-16 09:51:42,662][INFO][MainThread][score.py:39] 模块配置：{'name': 'comfort', 'priority': 0, 'comfortLat': {'name': 'comfortLat', 'priority': 0, 'weaving': {'name': 'weaving', 'priority': 0, 'max': 0, 'min': 0}, 'shake': {'name': 'shake', 'priority': 0, 'max': 0, 'min': 0}}, 'comfortLon': {'name': 'comfortLon', 'priority': 0, 'cadence': {'name': 'cadence', 'priority': 0, 'max': 0, 'min': 0}, 'slamBrake': {'name': 'slamBrake', 'priority': 0, 'max': 0, 'min': 0}, 'slamAccelerate': {'name': 'slamAccelerate', 'priority': 0, 'max': 0, 'min': 0}}} [2025-04-16 09:51:42,662][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5} [2025-04-16 09:51:43,031][INFO][ThreadPoolExecutor-0_0][comfort.py:153] 舒适性指标计算结果:{'weaving': 197.0, 'shake': 2.0, 'cadence': 0.0, 'slamBrake': 1.0, 'slamAccelerate': 1.0} [2025-04-16 09:51:43,033][INFO][MainThread][score.py:38] 模块名称：traffic [2025-04-16 09:51:43,033][INFO][MainThread][score.py:39] 模块配置：{'name': 'traffic', 'priority': 0, 'majorViolation': {'name': 'majorViolation', 'priority': 0, 'urbanExpresswayOrHighwaySpeedOverLimit50': {'name': 'urbanExpresswayOrHighwaySpeedOverLimit50', 'priority': 0, 'max': 0, 'min': 0}, 'urbanExpresswayOrHighwayReverse': {'name': 'higwayreverse', 'priority': 0, 'max': 0, 'min': 0}, 'urbanExpresswayOrHighwayDrivingAgainst': {'name': 'higwayDrivingAgainst', 'priority': 0, 'max': 0, 'min': 0}}, 'seriousViolation': {'name': 'seriousViolation', 'priority': 0, 'urbanExpresswayOrHighwayDrivingLaneStopped': {'name': 'urbanExpresswayOrHighwayDrivingLaneStopped', 'priority': 0, 'max': 0, 'min': 0}, 'urbanExpresswayOrHighwayEmergencyLaneStopped': {'name': 'highwayEmergencyLaneStopped', 'priority': 0, 'max': 0, 'min': 0}}, 'dangerousViolation': {'name': 'dangerousViolation', 'priority': 0, 'urbanExpresswayEmergencyLaneDriving': {'name': 'urbanExpresswayEmergencyLaneDriving', 'priority': 0, 'max': 0, 'min': 0}, 'trafficSignalViolation': {'name': 'trafficSignalViolation', 'priority': 0, 'max': 0, 'min': 0}, 'urbanExpresswayOrHighwaySpeedOverLimit20to50': {'name': 'urbanExpresswayOrHighwaySpeedOverLimit20to50', 'priority': 0, 'max': 0, 'min': 0}, 'generalRoadSpeedOverLimit50': {'name': 'generalRoadSpeedOverLimit50', 'priority': 0, 'max': 0, 'min': 0}}, 'generalViolation': {'name': 'generalViolation', 'priority': 0, 'generalRoadSpeedOverLimit20to50': {'name': 'generalRoadSpeedOverLimit20to50', 'priority': 0, 'max': 0, 'min': 0}, 'urbanExpresswayOrHighwaySpeedUnderLimit': {'name': 'UrbanExpresswayOrHighwaySpeedUnderLimit', 'priority': 0, 'max': 0, 'min': 0}, 'illegalDrivingOrParkingAtCrossroads': {'name': 'illegalDrivingOrParkingAtCrossroads', 'priority': 0, 'max': 0, 'min': 0}, 'overtake_on_right': {'name': 'overtake_on_right', 'priority': 0, 'max': 0, 'min': 0}, 'overtake_when_turn_around': {'name': 'overtake_when_turn_around', 'priority': 0, 'max': 0, 'min': 0}, 'overtake_when_passing_car': {'name': 'overtake_when_passing_car', 'priority': 0, 'max': 0, 'min': 0}, 'overtake_in_forbid_lane': {'name': 'overtake_in_forbid_lane', 'priority': 0, 'max': 0, 'min': 0}, 'overtake_in_ramp': {'name': 'overtake_in_ramp', 'priority': 0, 'max': 0, 'min': 0}, 'overtake_in_tunnel': {'name': 'overtake_in_tunnel', 'priority': 0, 'max': 0, 'min': 0}, 'overtake_on_accelerate_lane': {'name': 'overtake_on_accelerate_lane', 'priority': 0, 'max': 0, 'min': 0}, 'overtake_on_decelerate_lane': {'name': 'overtake_on_decelerate_lane', 'priority': 0, 'max': 0, 'min': 0}, 'overtake_in_different_senerios': {'name': 'overtake_in_different_senerios', 'priority': 0, 'max': 0, 'min': 0}, 'slow_down_in_crosswalk': {'name': 'slow_down_in_crosswalk', 'priority': 0, 'max': 0, 'min': 0}, 'avoid_pedestrian_in_crosswalk': {'name': 'avoid_pedestrian_in_crosswalk', 'priority': 0, 'max': 0, 'min': 0}, 'avoid_pedestrian_in_the_road': {'name': 'avoid_pedestrian_in_the_road', 'priority': 0, 'max': 0, 'min': 0}, 'avoid_pedestrian_when_turning': {'name': 'avoid_pedestrian_when_turning', 'priority': 0, 'max': 0, 'min': 0}, 'NoStraightThrough': {'name': 'NoStraightThrough', 'priority': 0, 'max': 0, 'min': 0}, 'SpeedLimitViolation': {'name': 'SpeedLimitViolation', 'priority': 0, 'max': 0, 'min': 0}, 'MinimumSpeedLimitViolation': {'name': 'MinimumSpeedLimitViolation', 'priority': 0, 'max': 0, 'min': 0}}, 'minorViolation': {'name': 'minorViolation', 'priority': 0, 'noUTurnViolation': {'name': 'noUTurnViolation', 'priority': 0, 'max': 0, 'min': 0}}, 'warningViolation': {'name': 'warningViolation', 'priority': 0, 'urbanExpresswayOrHighwaySpeedOverLimit0to20': {'name': 'urbanExpresswayOrHighwaySpeedOverLimit0to20', 'priority': 0, 'max': 0, 'min': 0}, 'urbanExpresswayOrHighwayRideLaneDivider': {'name': 'urbanExpresswayOrHighwayRideLaneDivider', 'priority': 0, 'max': 0, 'min': 0}, 'generalRoadIrregularLaneUse': {'name': 'generalRoadIrregularLaneUse', 'priority': 0, 'max': 0, 'min': 0}}} [2025-04-16 09:51:43,033][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5} [2025-04-16 09:51:43,921][INFO][ThreadPoolExecutor-0_1][traffic.py:1447] 合规性指标计算结果:{'urbanExpresswayOrHighwaySpeedOverLimit50': 0, 'urbanExpresswayOrHighwayDrivingLaneStopped': 0, 'urbanExpresswayEmergencyLaneDriving': 0, 'trafficSignalViolation': 0, 'urbanExpresswayOrHighwaySpeedOverLimit20to50': 0, 'generalRoadSpeedOverLimit50': 743, 'generalRoadSpeedOverLimit20to50': 6, 'illegalDrivingOrParkingAtCrossroads': 0, 'overtake_on_right': 0, 'overtake_when_turn_around': np.int64(0), 'overtake_when_passing_car': 0, 'overtake_in_forbid_lane': 0, 'overtake_in_ramp': 0, 'overtake_in_tunnel': 0, 'overtake_on_accelerate_lane': 0, 'overtake_on_decelerate_lane': 0, 'overtake_in_different_senerios': 0, 'slowdown_down_in_crosswalk': 0, 'avoid_pedestrian_in_crosswalk': 0, 'avoid_pedestrian_in_the_road': 0, 'urbanExpresswayOrHighwaySpeedOverLimit0to20': 0, 'urbanExpresswayOrHighwayRideLaneDivider': 0, 'generalRoadIrregularLaneUse': 0} [2025-04-16 09:51:43,922][INFO][MainThread][score.py:38] 模块名称：efficient [2025-04-16 09:51:43,922][INFO][MainThread][score.py:39] 模块配置：{'name': 'efficient', 'priority': 0, 'drivingMode': {'name': 'drivingMode', 'priority': 0, 'max_speed': {'name': 'maxSpeed', 'priority': 0, 'max': 0.0, 'min': 0.0}, 'devation_speed': {'name': 'deviationSpeed', 'priority': 0, 'max': 0.0, 'min': 0.0}, 'averagedSpeed': {'name': 'averagedSpeed', 'priority': 0, 'max': 80.0, 'min': 30.0}}, 'parkingMode': {'name': 'parkingMode', 'priority': 0, 'stopDuration': {'name': 'stopDuration', 'priority': 0, 'max': 1, 'min': 0}}} [2025-04-16 09:51:43,922][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5} [2025-04-16 09:51:43,922][INFO][MainThread][score.py:38] 模块名称：function [2025-04-16 09:51:43,922][INFO][MainThread][score.py:39] 模块配置：{'name': 'function', 'priority': 0, 'scenario': {'name': 'ForwardCollision', 'priority': 0, 'latestWarningDistance_TTC_LST': {'name': 'latestWarningDistance_TTC_LST', 'priority': 0, 'max': 3.11, 'min': 1.89}, 'earliestWarningDistance_TTC_LST': {'name': 'earliestWarningDistance_TTC_LST', 'priority': 0, 'max': 3.11, 'min': 1.89}, 'latestWarningDistance_LST': {'name': 'latestWarningDistance_LST', 'priority': 0, 'max': 17.29, 'min': 10.51}, 'earliestWarningDistance_LST': {'name': 'earliestWarningDistance_LST', 'priority': 0, 'max': 17.29, 'min': 10.51}}} [2025-04-16 09:51:43,922][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5} [2025-04-16 09:51:43,923][INFO][MainThread][score.py:38] 模块名称：user [2025-04-16 09:51:43,923][INFO][MainThread][score.py:39] 模块配置：{'name': 'user', 'priority': 0, 'safeTime': {'name': 'safetime', 'priority': 0, 'CustomTTC': {'name': 'CustomTTC', 'priority': 0, 'max': 20.0, 'min': 3.5}}} [2025-04-16 09:51:43,923][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5} [2025-04-16 09:51:43,923][INFO][MainThread][evaluator_optimized.py:328] 评测自定义指标: user.safetime.CustomTTC