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  1. [2025-03-13 10:20:14,678][INFO][MainThread][evaluator_enhanced.py:63] 成功加载配置: config/metrics_config.yaml
    2. 

  2. [2025-03-13 10:20:14,680][INFO][MainThread][evaluator_enhanced.py:63] 成功加载配置: config/custom_metrics_config.yaml
    3. 

  3. [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
    4. 

  4. [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
    5. 

  5. [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
    6. 

  6. [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
    7. 

  7. [2025-03-13 10:20:15,403][INFO][MainThread][evaluator_enhanced.py:541] 开始评估: zhaoyuan1
    8. 

  8. [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']
    9. 

  9. [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
    10. 

  10. [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
    11. 

  11. [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
    12. 

  12. [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
    13. 

  13. [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
    14. 

  14. [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}
    15. 

  15. [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']
    16. 

  16. [2025-03-13 10:20:15,404][ERROR][ThreadPoolExecutor-0_0][comfort.py:140] 未实现指标函数: Weaving
    17. 

  17. [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']
    18. 

  18. [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}
    19. 

  19. [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']
    20. 

  20. [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}
    21. 

  21. [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}
    22. 

  22. [2025-03-13 10:20:15,513][INFO][MainThread][evaluator_enhanced.py:361] 计算自定义指标: user.safeTime.CustomTTC
    23. 

  23. [2025-03-13 10:20:15,514][INFO][MainThread][evaluator_enhanced.py:361] 计算自定义指标: safety.safeTime.CustomTTC
    24. 

  24. [2025-03-13 10:20:15,514][INFO][MainThread][score.py:38] 模块名称：safety
    25. 

  25. [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}}}
    26. 

  26. [2025-03-13 10:20:15,514][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5}
    27. 

  27. [2025-03-13 10:20:15,514][INFO][MainThread][score.py:38] 模块名称：comfort
    28. 

  28. [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}}}
    29. 

  29. [2025-03-13 10:20:15,514][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5}
    30. 

  30. [2025-03-13 10:20:15,514][INFO][MainThread][score.py:38] 模块名称：traffic
    31. 

  31. [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}}}
    32. 

  32. [2025-03-13 10:20:15,514][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5}
    33. 

  33. [2025-03-13 10:20:15,515][INFO][MainThread][score.py:38] 模块名称：efficient
    34. 

  34. [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}}}
    35. 

  35. [2025-03-13 10:20:15,515][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5}
    36. 

  36. [2025-03-13 10:20:15,515][INFO][MainThread][score.py:38] 模块名称：function
    37. 

  37. [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}}}
    38. 

  38. [2025-03-13 10:20:15,515][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5}
    39. 

  39. [2025-03-13 10:20:15,515][INFO][MainThread][score.py:38] 模块名称：user
    40. 

  40. [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}}}
    41. 

  41. [2025-03-13 10:20:15,515][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5}
    42. 

  42. [2025-03-13 10:20:15,515][INFO][MainThread][evaluator_enhanced.py:545] 评估完成，耗时: 0.11秒
    43. 

  43. [2025-03-13 10:20:15,516][INFO][MainThread][evaluator_enhanced.py:572] 评估报告已生成: reports/zhaoyuan1_report.json
    44. 

  44. [2025-03-27 15:29:46,520][INFO][MainThread][evaluator_enhanced.py:56] Split configs: custom metrics saved to config/custom_metrics_config.yaml
    45. 

  45. [2025-03-27 15:29:46,534][INFO][MainThread][evaluator_enhanced.py:133] Loaded config: config/metrics_config.yaml
    46. 

  46. [2025-03-27 15:29:46,535][INFO][MainThread][evaluator_enhanced.py:133] Loaded config: config/custom_metrics_config.yaml
    47. 

  47. [2025-03-27 15:29:47,180][INFO][MainThread][evaluator_enhanced.py:203] Loaded builtin metrics: safety, comfort, traffic, efficient, function
    48. 

  48. [2025-03-27 15:29:47,181][INFO][MainThread][evaluator_enhanced.py:263] Loaded function-based custom metric: user.safeTime.CustomTTC
    49. 

  49. [2025-03-27 15:29:47,190][INFO][MainThread][evaluator_enhanced.py:257] Loaded class-based custom metric: safety.safeTime.CustomTTC
    50. 

  50. [2025-03-27 15:29:47,190][INFO][MainThread][evaluator_enhanced.py:228] Loaded 2 custom metric modules
    51. 

  51. [2025-03-27 15:29:47,271][INFO][MainThread][evaluator_enhanced.py:515] Start evaluation: zhaoyuan1
    52. 

  52. [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']
    53. 

  53. [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
    54. 

  54. [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
    55. 

  55. [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
    56. 

  56. [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
    57. 

  57. [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
    58. 

  58. [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}
    59. 

  59. [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']
    60. 

  60. [2025-03-27 15:29:47,271][ERROR][ThreadPoolExecutor-0_0][comfort.py:140] 未实现指标函数: Weaving
    61. 

  61. [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']
    62. 

  62. [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}
    63. 

  63. [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']
    64. 

  64. [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}
    65. 

  65. [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}
    66. 

  66. [2025-03-27 15:29:47,363][INFO][MainThread][evaluator_enhanced.py:373] Calculated custom metric: user.safeTime.CustomTTC
    67. 

  67. [2025-03-27 15:29:47,363][INFO][MainThread][evaluator_enhanced.py:373] Calculated custom metric: safety.safeTime.CustomTTC
    68. 

  68. [2025-03-27 15:29:47,363][INFO][MainThread][score.py:38] 模块名称：safety
    69. 

  69. [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}}}
    70. 

  70. [2025-03-27 15:29:47,363][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5}
    71. 

  71. [2025-03-27 15:29:47,363][INFO][MainThread][score.py:38] 模块名称：comfort
    72. 

  72. [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}}}
    73. 

  73. [2025-03-27 15:29:47,363][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5}
    74. 

  74. [2025-03-27 15:29:47,363][INFO][MainThread][score.py:38] 模块名称：traffic
    75. 

  75. [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}}}
    76. 

  76. [2025-03-27 15:29:47,363][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5}
    77. 

  77. [2025-03-27 15:29:47,364][INFO][MainThread][score.py:38] 模块名称：efficient
    78. 

  78. [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}}}
    79. 

  79. [2025-03-27 15:29:47,364][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5}
    80. 

  80. [2025-03-27 15:29:47,364][INFO][MainThread][score.py:38] 模块名称：function
    81. 

  81. [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}}}
    82. 

  82. [2025-03-27 15:29:47,364][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5}
    83. 

  83. [2025-03-27 15:29:47,364][INFO][MainThread][score.py:38] 模块名称：user
    84. 

  84. [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}}}
    85. 

  85. [2025-03-27 15:29:47,364][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5}
    86. 

  86. [2025-03-27 15:29:47,364][INFO][MainThread][evaluator_enhanced.py:519] Evaluation completed, time: 0.09s
    87. 

  87. [2025-03-27 15:29:47,365][INFO][MainThread][evaluator_enhanced.py:542] Report generated: reports/zhaoyuan1_report.json
    88. 

  88. [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
    89. 

  89. [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
    90. 

  90. [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
    91. 

  91. [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
    92. 

  92. [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']
    93. 

  93. [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
    94. 

  94. [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
    95. 

  95. [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
    96. 

  96. [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
    97. 

  97. [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
    98. 

  98. [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}
    99. 

  99. [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']
    100. 

  100. [2025-04-10 10:51:20,812][ERROR][ThreadPoolExecutor-0_0][comfort.py:140] 未实现指标函数: Weaving
    101. 

  101. [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']
    102. 

  102. [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']
    103. 

  103. [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}
    104. 

  104. [2025-04-10 10:51:20,814][INFO][MainThread][score.py:38] 模块名称：safety
    105. 

  105. [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}}}
    106. 

  106. [2025-04-10 10:51:20,814][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5}
    107. 

  107. [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}
    108. 

  108. [2025-04-10 10:51:20,830][INFO][MainThread][score.py:38] 模块名称：comfort
    109. 

  109. [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}}}
    110. 

  110. [2025-04-10 10:51:20,830][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5}
    111. 

  111. [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'
    112. 

  112. Stack (most recent call last):
    113. 

  113.   File "D:\Python\Lib\threading.py", line 1030, in _bootstrap
    114. 

  114.     self._bootstrap_inner()
    115. 

  115.   File "D:\Python\Lib\threading.py", line 1073, in _bootstrap_inner
    116. 

  116.     self.run()
    117. 

  117.   File "D:\Python\Lib\threading.py", line 1010, in run
    118. 

  118.     self._target(*self._args, **self._kwargs)
    119. 

  119.   File "D:\Python\Lib\concurrent\futures\thread.py", line 92, in _worker
    120. 

  120.     work_item.run()
    121. 

  121.   File "D:\Python\Lib\concurrent\futures\thread.py", line 58, in run
    122. 

  122.     result = self.fn(*self.args, **self.kwargs)
    123. 

  123.   File "D:\Cicv\招远\zhaoyuan0410\scripts\evaluator_optimized.py", line 358, in _run_module
    124. 

  124.     self.logger.error(f"{module_name} 执行异常: {str(e)}", stack_info=True)
    125. 

  125. [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}
    126. 

  126. [2025-04-10 10:51:21,134][INFO][MainThread][score.py:38] 模块名称：traffic
    127. 

  127. [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}}}
    128. 

  128. [2025-04-10 10:51:21,134][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5}
    129. 

  129. [2025-04-10 10:51:21,138][INFO][MainThread][score.py:38] 模块名称：efficient
    130. 

  130. [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}}}
    131. 

  131. [2025-04-10 10:51:21,138][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5}
    132. 

  132. [2025-04-10 10:51:21,138][INFO][MainThread][score.py:38] 模块名称：function
    133. 

  133. [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}}}
    134. 

  134. [2025-04-10 10:51:21,138][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5}
    135. 

  135. [2025-04-10 10:51:21,138][INFO][MainThread][score.py:38] 模块名称：user
    136. 

  136. [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}}}
    137. 

  137. [2025-04-10 10:51:21,138][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5}
    138. 

  138. [2025-04-10 10:51:21,138][INFO][MainThread][evaluator_optimized.py:328] 评测自定义指标: user.safetime.CustomTTC
    139. 

  139. [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
    140. 

  140. [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
    141. 

  141. [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
    142. 

  142. [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
    143. 

  143. [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
    144. 

  144. [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']
    145. 

  145. [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
    146. 

  146. [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
    147. 

  147. [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
    148. 

  148. [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
    149. 

  149. [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
    150. 

  150. [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}
    151. 

  151. [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']
    152. 

  152. [2025-04-14 14:05:40,542][ERROR][ThreadPoolExecutor-0_1][comfort.py:140] 未实现指标函数: Weaving
    153. 

  153. [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']
    154. 

  154. [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']
    155. 

  155. [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}
    156. 

  156. [2025-04-14 14:05:40,558][INFO][MainThread][score.py:38] 模块名称：safety
    157. 

  157. [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}}}
    158. 

  158. [2025-04-14 14:05:40,558][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5}
    159. 

  159. [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}
    160. 

  160. [2025-04-14 14:05:40,633][INFO][MainThread][score.py:38] 模块名称：comfort
    161. 

  161. [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}}}
    162. 

  162. [2025-04-14 14:05:40,633][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5}
    163. 

  163. [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'
    164. 

  164. Stack (most recent call last):
    165. 

  165.   File "D:\Python\Lib\threading.py", line 1030, in _bootstrap
    166. 

  166.     self._bootstrap_inner()
    167. 

  167.   File "D:\Python\Lib\threading.py", line 1073, in _bootstrap_inner
    168. 

  168.     self.run()
    169. 

  169.   File "D:\Python\Lib\threading.py", line 1010, in run
    170. 

  170.     self._target(*self._args, **self._kwargs)
    171. 

  171.   File "D:\Python\Lib\concurrent\futures\thread.py", line 92, in _worker
    172. 

  172.     work_item.run()
    173. 

  173.   File "D:\Python\Lib\concurrent\futures\thread.py", line 58, in run
    174. 

  174.     result = self.fn(*self.args, **self.kwargs)
    175. 

  175.   File "D:\Cicv\招远\zhaoyuan0410\scripts\evaluator_optimized.py", line 358, in _run_module
    176. 

  176.     self.logger.error(f"{module_name} 执行异常: {str(e)}", stack_info=True)
    177. 

  177. [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}
    178. 

  178. [2025-04-14 14:05:42,251][INFO][MainThread][score.py:38] 模块名称：traffic
    179. 

  179. [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}}}
    180. 

  180. [2025-04-14 14:05:42,251][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5}
    181. 

  181. [2025-04-14 14:05:42,251][INFO][MainThread][score.py:38] 模块名称：efficient
    182. 

  182. [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}}}
    183. 

  183. [2025-04-14 14:05:42,251][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5}
    184. 

  184. [2025-04-14 14:05:42,251][INFO][MainThread][score.py:38] 模块名称：function
    185. 

  185. [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}}}
    186. 

  186. [2025-04-14 14:05:42,251][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5}
    187. 

  187. [2025-04-14 14:05:42,251][INFO][MainThread][score.py:38] 模块名称：user
    188. 

  188. [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}}}
    189. 

  189. [2025-04-14 14:05:42,251][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5}
    190. 

  190. [2025-04-14 14:05:42,251][INFO][MainThread][evaluator_optimized.py:328] 评测自定义指标: user.safetime.CustomTTC
    191. 

  191. [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
    192. 

  192. [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
    193. 

  193. [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'
    194. 

  194. [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
    195. 

  195. [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
    196. 

  196. [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
    197. 

  197. [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
    198. 

  198. [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']
    199. 

  199. [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
    200. 

  200. [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
    201. 

  201. [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
    202. 

  202. [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
    203. 

  203. [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
    204. 

  204. [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}
    205. 

  205. [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']
    206. 

  206. [2025-04-16 09:11:41,468][ERROR][ThreadPoolExecutor-0_0][comfort.py:140] 未实现指标函数: Weaving
    207. 

  207. [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']
    208. 

  208. [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']
    209. 

  209. [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}
    210. 

  210. [2025-04-16 09:11:41,486][INFO][MainThread][score.py:38] 模块名称：safety
    211. 

  211. [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}}}
    212. 

  212. [2025-04-16 09:11:41,486][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5}
    213. 

  213. [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}
    214. 

  214. [2025-04-16 09:11:41,487][INFO][MainThread][score.py:38] 模块名称：comfort
    215. 

  215. [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}}}
    216. 

  216. [2025-04-16 09:11:41,487][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5}
    217. 

  217. [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'
    218. 

  218. Stack (most recent call last):
    219. 

  219.   File "D:\Python\Lib\threading.py", line 1030, in _bootstrap
    220. 

  220.     self._bootstrap_inner()
    221. 

  221.   File "D:\Python\Lib\threading.py", line 1073, in _bootstrap_inner
    222. 

  222.     self.run()
    223. 

  223.   File "D:\Python\Lib\threading.py", line 1010, in run
    224. 

  224.     self._target(*self._args, **self._kwargs)
    225. 

  225.   File "D:\Python\Lib\concurrent\futures\thread.py", line 92, in _worker
    226. 

  226.     work_item.run()
    227. 

  227.   File "D:\Python\Lib\concurrent\futures\thread.py", line 58, in run
    228. 

  228.     result = self.fn(*self.args, **self.kwargs)
    229. 

  229.   File "D:\Cicv\招远\zhaoyuan0410\scripts\evaluator_optimized.py", line 358, in _run_module
    230. 

  230.     self.logger.error(f"{module_name} 执行异常: {str(e)}", stack_info=True)
    231. 

  231. [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}
    232. 

  232. [2025-04-16 09:11:41,780][INFO][MainThread][score.py:38] 模块名称：traffic
    233. 

  233. [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}}}
    234. 

  234. [2025-04-16 09:11:41,780][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5}
    235. 

  235. [2025-04-16 09:11:41,782][INFO][MainThread][score.py:38] 模块名称：efficient
    236. 

  236. [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}}}
    237. 

  237. [2025-04-16 09:11:41,782][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5}
    238. 

  238. [2025-04-16 09:11:41,782][INFO][MainThread][score.py:38] 模块名称：function
    239. 

  239. [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}}}
    240. 

  240. [2025-04-16 09:11:41,782][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5}
    241. 

  241. [2025-04-16 09:11:41,783][INFO][MainThread][score.py:38] 模块名称：user
    242. 

  242. [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}}}
    243. 

  243. [2025-04-16 09:11:41,783][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5}
    244. 

  244. [2025-04-16 09:11:41,783][INFO][MainThread][evaluator_optimized.py:328] 评测自定义指标: user.safetime.CustomTTC
    245. 

  245. [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
    246. 

  246. [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
    247. 

  247. [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
    248. 

  248. [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
    249. 

  249. [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'
    250. 

  250. [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
    251. 

  251. [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
    252. 

  252. [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
    253. 

  253. [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
    254. 

  254. [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
    255. 

  255. [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
    256. 

  256. [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']
    257. 

  257. [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
    258. 

  258. [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
    259. 

  259. [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
    260. 

  260. [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
    261. 

  261. [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
    262. 

  262. [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}
    263. 

  263. [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']
    264. 

  264. [2025-04-16 09:20:56,290][ERROR][ThreadPoolExecutor-0_0][comfort.py:140] 未实现指标函数: Weaving
    265. 

  265. [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']
    266. 

  266. [2025-04-16 09:20:56,291][ERROR][ThreadPoolExecutor-0_1][traffic.py:1454] 未实现指标函数: higwayreverse
    267. 

  267. [2025-04-16 09:20:56,291][ERROR][ThreadPoolExecutor-0_1][traffic.py:1454] 未实现指标函数: higwayDrivingAgainst
    268. 

  268. [2025-04-16 09:20:56,291][ERROR][ThreadPoolExecutor-0_1][traffic.py:1454] 未实现指标函数: highwayEmergencyLaneStopped
    269. 

  269. [2025-04-16 09:20:56,291][ERROR][ThreadPoolExecutor-0_1][traffic.py:1454] 未实现指标函数: UrbanExpresswayOrHighwaySpeedUnderLimit
    270. 

  270. [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
    271. 

  271. [2025-04-16 09:20:56,291][ERROR][ThreadPoolExecutor-0_1][traffic.py:1454] 未实现指标函数: noUTurnViolation
    272. 

  272. [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']
    273. 

  273. [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']
    274. 

  274. [2025-04-16 09:20:56,293][INFO][MainThread][score.py:38] 模块名称：safety
    275. 

  275. [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}}}
    276. 

  276. [2025-04-16 09:20:56,294][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5}
    277. 

  277. [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}
    278. 

  278. [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}
    279. 

  279. [2025-04-16 09:20:56,323][INFO][MainThread][score.py:38] 模块名称：comfort
    280. 

  280. [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}}}
    281. 

  281. [2025-04-16 09:20:56,323][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5}
    282. 

  282. [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}
    283. 

  283. [2025-04-16 09:20:56,624][INFO][MainThread][score.py:38] 模块名称：traffic
    284. 

  284. [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}}}
    285. 

  285. [2025-04-16 09:20:56,624][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5}
    286. 

  286. [2025-04-16 09:20:57,473][ERROR][ThreadPoolExecutor-0_1][traffic.py:1465] NoStraightThrough 执行失败: 'sign_speed'
    287. 

  287. Traceback (most recent call last):
    288. 

  288.   File "D:\Python\Lib\site-packages\pandas\core\indexes\base.py", line 3805, in get_loc
    289. 

  289.     return self._engine.get_loc(casted_key)
    290. 

  290.            ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
    291. 

  291.   File "index.pyx", line 167, in pandas._libs.index.IndexEngine.get_loc
    292. 

  292.   File "index.pyx", line 196, in pandas._libs.index.IndexEngine.get_loc
    293. 

  293.   File "pandas\\_libs\\hashtable_class_helper.pxi", line 7081, in pandas._libs.hashtable.PyObjectHashTable.get_item
    294. 

  294.   File "pandas\\_libs\\hashtable_class_helper.pxi", line 7089, in pandas._libs.hashtable.PyObjectHashTable.get_item
    295. 

  295. KeyError: 'sign_speed'
    296. 

  296. 

  297. The above exception was the direct cause of the following exception:
    298. 

  298. 

  299. Traceback (most recent call last):
    300. 

  300.   File "D:\Cicv\招远\zhaoyuan0410\modules\metric\traffic.py", line 1462, in batch_execute
    301. 

  301.     result = func(self.data)
    302. 

  302.              ^^^^^^^^^^^^^^^
    303. 

  303.   File "D:\Cicv\招远\zhaoyuan0410\modules\metric\traffic.py", line 1338, in NoStraightThrough
    304. 

  304.     NoStraightThrough_count = trafficsignviolation.calculate_NoStraightThrough_count()
    305. 

  305.                               ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
    306. 

  306.   File "D:\Cicv\招远\zhaoyuan0410\modules\metric\traffic.py", line 1406, in calculate_NoStraightThrough_count
    307. 

  307.     self.checkForProhibitionViolation()
    308. 

  308.   File "D:\Cicv\招远\zhaoyuan0410\modules\metric\traffic.py", line 1395, in checkForProhibitionViolation
    309. 

  309.     mask = self.data_ego["v"] > self.data_ego["sign_speed"]
    310. 

  310.                                 ~~~~~~~~~~~~~^^^^^^^^^^^^^^
    311. 

  311.   File "D:\Python\Lib\site-packages\pandas\core\frame.py", line 4102, in __getitem__
    312. 

  312.     indexer = self.columns.get_loc(key)
    313. 

  313.               ^^^^^^^^^^^^^^^^^^^^^^^^^
    314. 

  314.   File "D:\Python\Lib\site-packages\pandas\core\indexes\base.py", line 3812, in get_loc
    315. 

  315.     raise KeyError(key) from err
    316. 

  316. KeyError: 'sign_speed'
    317. 

  317. [2025-04-16 09:20:57,477][ERROR][ThreadPoolExecutor-0_1][traffic.py:1465] SpeedLimitViolation 执行失败: 'sign_speed'
    318. 

  318. Traceback (most recent call last):
    319. 

  319.   File "D:\Python\Lib\site-packages\pandas\core\indexes\base.py", line 3805, in get_loc
    320. 

  320.     return self._engine.get_loc(casted_key)
    321. 

  321.            ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
    322. 

  322.   File "index.pyx", line 167, in pandas._libs.index.IndexEngine.get_loc
    323. 

  323.   File "index.pyx", line 196, in pandas._libs.index.IndexEngine.get_loc
    324. 

  324.   File "pandas\\_libs\\hashtable_class_helper.pxi", line 7081, in pandas._libs.hashtable.PyObjectHashTable.get_item
    325. 

  325.   File "pandas\\_libs\\hashtable_class_helper.pxi", line 7089, in pandas._libs.hashtable.PyObjectHashTable.get_item
    326. 

  326. KeyError: 'sign_speed'
    327. 

  327. 

  328. The above exception was the direct cause of the following exception:
    329. 

  329. 

  330. Traceback (most recent call last):
    331. 

  331.   File "D:\Cicv\招远\zhaoyuan0410\modules\metric\traffic.py", line 1462, in batch_execute
    332. 

  332.     result = func(self.data)
    333. 

  333.              ^^^^^^^^^^^^^^^
    334. 

  334.   File "D:\Cicv\招远\zhaoyuan0410\modules\metric\traffic.py", line 1344, in SpeedLimitViolation
    335. 

  335.     SpeedLimitViolation_count = trafficsignviolation.calculate_SpeedLimitViolation_count()
    336. 

  336.                                 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
    337. 

  337.   File "D:\Cicv\招远\zhaoyuan0410\modules\metric\traffic.py", line 1411, in calculate_SpeedLimitViolation_count
    338. 

  338.     self.checkForProhibitionViolation()
    339. 

  339.   File "D:\Cicv\招远\zhaoyuan0410\modules\metric\traffic.py", line 1395, in checkForProhibitionViolation
    340. 

  340.     mask = self.data_ego["v"] > self.data_ego["sign_speed"]
    341. 

  341.                                 ~~~~~~~~~~~~~^^^^^^^^^^^^^^
    342. 

  342.   File "D:\Python\Lib\site-packages\pandas\core\frame.py", line 4102, in __getitem__
    343. 

  343.     indexer = self.columns.get_loc(key)
    344. 

  344.               ^^^^^^^^^^^^^^^^^^^^^^^^^
    345. 

  345.   File "D:\Python\Lib\site-packages\pandas\core\indexes\base.py", line 3812, in get_loc
    346. 

  346.     raise KeyError(key) from err
    347. 

  347. KeyError: 'sign_speed'
    348. 

  348. [2025-04-16 09:20:57,478][ERROR][ThreadPoolExecutor-0_1][traffic.py:1465] MinimumSpeedLimitViolation 执行失败: 'sign_speed'
    349. 

  349. Traceback (most recent call last):
    350. 

  350.   File "D:\Python\Lib\site-packages\pandas\core\indexes\base.py", line 3805, in get_loc
    351. 

  351.     return self._engine.get_loc(casted_key)
    352. 

  352.            ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
    353. 

  353.   File "index.pyx", line 167, in pandas._libs.index.IndexEngine.get_loc
    354. 

  354.   File "index.pyx", line 196, in pandas._libs.index.IndexEngine.get_loc
    355. 

  355.   File "pandas\\_libs\\hashtable_class_helper.pxi", line 7081, in pandas._libs.hashtable.PyObjectHashTable.get_item
    356. 

  356.   File "pandas\\_libs\\hashtable_class_helper.pxi", line 7089, in pandas._libs.hashtable.PyObjectHashTable.get_item
    357. 

  357. KeyError: 'sign_speed'
    358. 

  358. 

  359. The above exception was the direct cause of the following exception:
    360. 

  360. 

  361. Traceback (most recent call last):
    362. 

  362.   File "D:\Cicv\招远\zhaoyuan0410\modules\metric\traffic.py", line 1462, in batch_execute
    363. 

  363.     result = func(self.data)
    364. 

  364.              ^^^^^^^^^^^^^^^
    365. 

  365.   File "D:\Cicv\招远\zhaoyuan0410\modules\metric\traffic.py", line 1350, in MinimumSpeedLimitViolation
    366. 

  366.     MinimumSpeedLimitViolation_count = trafficsignviolation.calculate_MinimumSpeedLimitViolation_count()
    367. 

  367.                                        ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
    368. 

  368.   File "D:\Cicv\招远\zhaoyuan0410\modules\metric\traffic.py", line 1416, in calculate_MinimumSpeedLimitViolation_count
    369. 

  369.     self.checkForProhibitionViolation()
    370. 

  370.   File "D:\Cicv\招远\zhaoyuan0410\modules\metric\traffic.py", line 1395, in checkForProhibitionViolation
    371. 

  371.     mask = self.data_ego["v"] > self.data_ego["sign_speed"]
    372. 

  372.                                 ~~~~~~~~~~~~~^^^^^^^^^^^^^^
    373. 

  373.   File "D:\Python\Lib\site-packages\pandas\core\frame.py", line 4102, in __getitem__
    374. 

  374.     indexer = self.columns.get_loc(key)
    375. 

  375.               ^^^^^^^^^^^^^^^^^^^^^^^^^
    376. 

  376.   File "D:\Python\Lib\site-packages\pandas\core\indexes\base.py", line 3812, in get_loc
    377. 

  377.     raise KeyError(key) from err
    378. 

  378. KeyError: 'sign_speed'
    379. 

  379. [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}
    380. 

  380. [2025-04-16 09:20:57,488][INFO][MainThread][score.py:38] 模块名称：efficient
    381. 

  381. [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}}}
    382. 

  382. [2025-04-16 09:20:57,488][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5}
    383. 

  383. [2025-04-16 09:20:57,488][INFO][MainThread][score.py:38] 模块名称：function
    384. 

  384. [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}}}
    385. 

  385. [2025-04-16 09:20:57,488][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5}
    386. 

  386. [2025-04-16 09:20:57,488][INFO][MainThread][score.py:38] 模块名称：user
    387. 

  387. [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}}}
    388. 

  388. [2025-04-16 09:20:57,488][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5}
    389. 

  389. [2025-04-16 09:20:57,488][INFO][MainThread][evaluator_optimized.py:328] 评测自定义指标: user.safetime.CustomTTC
    390. 

  390. [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
    391. 

  391. [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
    392. 

  392. [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
    393. 

  393. [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
    394. 

  394. [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
    395. 

  395. [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']
    396. 

  396. [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
    397. 

  397. [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
    398. 

  398. [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
    399. 

  399. [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
    400. 

  400. [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
    401. 

  401. [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}
    402. 

  402. [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']
    403. 

  403. [2025-04-16 09:27:04,413][ERROR][ThreadPoolExecutor-0_0][comfort.py:140] 未实现指标函数: Weaving
    404. 

  404. [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']
    405. 

  405. [2025-04-16 09:27:04,414][ERROR][ThreadPoolExecutor-0_1][traffic.py:1433] 未实现指标函数: higwayreverse
    406. 

  406. [2025-04-16 09:27:04,414][ERROR][ThreadPoolExecutor-0_1][traffic.py:1433] 未实现指标函数: higwayDrivingAgainst
    407. 

  407. [2025-04-16 09:27:04,414][ERROR][ThreadPoolExecutor-0_1][traffic.py:1433] 未实现指标函数: highwayEmergencyLaneStopped
    408. 

  408. [2025-04-16 09:27:04,414][ERROR][ThreadPoolExecutor-0_1][traffic.py:1433] 未实现指标函数: UrbanExpresswayOrHighwaySpeedUnderLimit
    409. 

  409. [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
    410. 

  410. [2025-04-16 09:27:04,414][ERROR][ThreadPoolExecutor-0_1][traffic.py:1433] 未实现指标函数: NoStraightThrough
    411. 

  411. [2025-04-16 09:27:04,414][ERROR][ThreadPoolExecutor-0_1][traffic.py:1433] 未实现指标函数: SpeedLimitViolation
    412. 

  412. [2025-04-16 09:27:04,414][ERROR][ThreadPoolExecutor-0_1][traffic.py:1433] 未实现指标函数: MinimumSpeedLimitViolation
    413. 

  413. [2025-04-16 09:27:04,414][ERROR][ThreadPoolExecutor-0_1][traffic.py:1433] 未实现指标函数: noUTurnViolation
    414. 

  414. [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']
    415. 

  415. [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']
    416. 

  416. [2025-04-16 09:27:04,416][INFO][MainThread][score.py:38] 模块名称：safety
    417. 

  417. [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}}}
    418. 

  418. [2025-04-16 09:27:04,417][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5}
    419. 

  419. [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}
    420. 

  420. [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}
    421. 

  421. [2025-04-16 09:27:04,440][INFO][MainThread][score.py:38] 模块名称：comfort
    422. 

  422. [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}}}
    423. 

  423. [2025-04-16 09:27:04,440][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5}
    424. 

  424. [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}
    425. 

  425. [2025-04-16 09:27:04,766][INFO][MainThread][score.py:38] 模块名称：traffic
    426. 

  426. [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}}}
    427. 

  427. [2025-04-16 09:27:04,766][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5}
    428. 

  428. [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}
    429. 

  429. [2025-04-16 09:27:05,702][INFO][MainThread][score.py:38] 模块名称：efficient
    430. 

  430. [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}}}
    431. 

  431. [2025-04-16 09:27:05,702][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5}
    432. 

  432. [2025-04-16 09:27:05,702][INFO][MainThread][score.py:38] 模块名称：function
    433. 

  433. [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}}}
    434. 

  434. [2025-04-16 09:27:05,702][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5}
    435. 

  435. [2025-04-16 09:27:05,703][INFO][MainThread][score.py:38] 模块名称：user
    436. 

  436. [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}}}
    437. 

  437. [2025-04-16 09:27:05,703][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5}
    438. 

  438. [2025-04-16 09:27:05,703][INFO][MainThread][evaluator_optimized.py:328] 评测自定义指标: user.safetime.CustomTTC
    439. 

  439. [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
    440. 

  440. [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
    441. 

  441. [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
    442. 

  442. [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
    443. 

  443. [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']
    444. 

  444. [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
    445. 

  445. [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
    446. 

  446. [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
    447. 

  447. [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
    448. 

  448. [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
    449. 

  449. [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}
    450. 

  450. [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']
    451. 

  451. [2025-04-16 09:36:35,541][ERROR][ThreadPoolExecutor-0_1][comfort.py:140] 未实现指标函数: Weaving
    452. 

  452. [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']
    453. 

  453. [2025-04-16 09:36:35,542][ERROR][ThreadPoolExecutor-0_0][traffic.py:1434] 未实现指标函数: higwayreverse
    454. 

  454. [2025-04-16 09:36:35,542][ERROR][ThreadPoolExecutor-0_0][traffic.py:1434] 未实现指标函数: higwayDrivingAgainst
    455. 

  455. [2025-04-16 09:36:35,542][ERROR][ThreadPoolExecutor-0_0][traffic.py:1434] 未实现指标函数: highwayEmergencyLaneStopped
    456. 

  456. [2025-04-16 09:36:35,542][ERROR][ThreadPoolExecutor-0_0][traffic.py:1434] 未实现指标函数: UrbanExpresswayOrHighwaySpeedUnderLimit
    457. 

  457. [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
    458. 

  458. [2025-04-16 09:36:35,542][ERROR][ThreadPoolExecutor-0_0][traffic.py:1434] 未实现指标函数: NoStraightThrough
    459. 

  459. [2025-04-16 09:36:35,542][ERROR][ThreadPoolExecutor-0_0][traffic.py:1434] 未实现指标函数: SpeedLimitViolation
    460. 

  460. [2025-04-16 09:36:35,542][ERROR][ThreadPoolExecutor-0_0][traffic.py:1434] 未实现指标函数: MinimumSpeedLimitViolation
    461. 

  461. [2025-04-16 09:36:35,542][ERROR][ThreadPoolExecutor-0_0][traffic.py:1434] 未实现指标函数: noUTurnViolation
    462. 

  462. [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']
    463. 

  463. [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']
    464. 

  464. [2025-04-16 09:36:35,543][INFO][MainThread][score.py:38] 模块名称：safety
    465. 

  465. [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}}}
    466. 

  466. [2025-04-16 09:36:35,543][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5}
    467. 

  467. [2025-04-16 09:36:35,544][ERROR][ThreadPoolExecutor-0_3][function.py:538] 未实现指标函数: latestWarningDistance_TTC
    468. 

  468. [2025-04-16 09:36:35,544][ERROR][ThreadPoolExecutor-0_3][function.py:538] 未实现指标函数: latestWarningDistance
    469. 

  469. [2025-04-16 09:36:35,544][INFO][ThreadPoolExecutor-0_3][function.py:552] 功能指标计算结果:{}
    470. 

  470. [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}
    471. 

  471. [2025-04-16 09:36:35,554][INFO][MainThread][score.py:38] 模块名称：comfort
    472. 

  472. [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}}}
    473. 

  473. [2025-04-16 09:36:35,554][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5}
    474. 

  474. [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'
    475. 

  475. Stack (most recent call last):
    476. 

  476.   File "D:\Python\Lib\threading.py", line 1030, in _bootstrap
    477. 

  477.     self._bootstrap_inner()
    478. 

  478.   File "D:\Python\Lib\threading.py", line 1073, in _bootstrap_inner
    479. 

  479.     self.run()
    480. 

  480.   File "D:\Python\Lib\threading.py", line 1010, in run
    481. 

  481.     self._target(*self._args, **self._kwargs)
    482. 

  482.   File "D:\Python\Lib\concurrent\futures\thread.py", line 92, in _worker
    483. 

  483.     work_item.run()
    484. 

  484.   File "D:\Python\Lib\concurrent\futures\thread.py", line 58, in run
    485. 

  485.     result = self.fn(*self.args, **self.kwargs)
    486. 

  486.   File "D:\Cicv\招远\zhaoyuan0410\scripts\evaluator_optimized.py", line 358, in _run_module
    487. 

  487.     self.logger.error(f"{module_name} 执行异常: {str(e)}", stack_info=True)
    488. 

  488. [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}
    489. 

  489. [2025-04-16 09:36:35,897][INFO][MainThread][score.py:38] 模块名称：traffic
    490. 

  490. [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}}}
    491. 

  491. [2025-04-16 09:36:35,898][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5}
    492. 

  492. [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}
    493. 

  493. [2025-04-16 09:36:36,746][INFO][MainThread][score.py:38] 模块名称：efficient
    494. 

  494. [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}}}
    495. 

  495. [2025-04-16 09:36:36,746][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5}
    496. 

  496. [2025-04-16 09:36:36,746][INFO][MainThread][score.py:38] 模块名称：function
    497. 

  497. [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}}}
    498. 

  498. [2025-04-16 09:36:36,746][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5}
    499. 

  499. [2025-04-16 09:36:36,746][INFO][MainThread][score.py:38] 模块名称：user
    500. 

  500. [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}}}
    501. 

  501. [2025-04-16 09:36:36,746][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5}
    502. 

  502. [2025-04-16 09:36:36,746][INFO][MainThread][evaluator_optimized.py:328] 评测自定义指标: user.safetime.CustomTTC
    503. 

  503. [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
    504. 

  504. [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
    505. 

  505. [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
    506. 

  506. [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
    507. 

  507. [2025-04-16 09:40:40,799][INFO][MainThread][score.py:38] 模块名称：safety
    508. 

  508. [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}}}
    509. 

  509. [2025-04-16 09:40:40,799][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5}
    510. 

  510. [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']
    511. 

  511. [2025-04-16 09:40:46,430][ERROR][ThreadPoolExecutor-0_2][traffic.py:1434] 未实现指标函数: higwayreverse
    512. 

  512. [2025-04-16 09:40:46,432][ERROR][ThreadPoolExecutor-0_2][traffic.py:1434] 未实现指标函数: higwayDrivingAgainst
    513. 

  513. [2025-04-16 09:40:46,432][ERROR][ThreadPoolExecutor-0_2][traffic.py:1434] 未实现指标函数: highwayEmergencyLaneStopped
    514. 

  514. [2025-04-16 09:40:46,432][ERROR][ThreadPoolExecutor-0_2][traffic.py:1434] 未实现指标函数: UrbanExpresswayOrHighwaySpeedUnderLimit
    515. 

  515. [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
    516. 

  516. [2025-04-16 09:40:46,434][ERROR][ThreadPoolExecutor-0_2][traffic.py:1434] 未实现指标函数: NoStraightThrough
    517. 

  517. [2025-04-16 09:40:46,436][ERROR][ThreadPoolExecutor-0_2][traffic.py:1434] 未实现指标函数: SpeedLimitViolation
    518. 

  518. [2025-04-16 09:40:46,436][ERROR][ThreadPoolExecutor-0_2][traffic.py:1434] 未实现指标函数: MinimumSpeedLimitViolation
    519. 

  519. [2025-04-16 09:40:46,436][ERROR][ThreadPoolExecutor-0_2][traffic.py:1434] 未实现指标函数: noUTurnViolation
    520. 

  520. [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}
    521. 

  521. [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
    522. 

  522. [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
    523. 

  523. [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
    524. 

  524. [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
    525. 

  525. [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']
    526. 

  526. [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
    527. 

  527. [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
    528. 

  528. [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
    529. 

  529. [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
    530. 

  530. [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
    531. 

  531. [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}
    532. 

  532. [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']
    533. 

  533. [2025-04-16 09:47:37,056][ERROR][ThreadPoolExecutor-0_1][comfort.py:140] 未实现指标函数: Weaving
    534. 

  534. [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']
    535. 

  535. [2025-04-16 09:47:37,057][ERROR][ThreadPoolExecutor-0_0][traffic.py:1434] 未实现指标函数: higwayreverse
    536. 

  536. [2025-04-16 09:47:37,057][ERROR][ThreadPoolExecutor-0_0][traffic.py:1434] 未实现指标函数: higwayDrivingAgainst
    537. 

  537. [2025-04-16 09:47:37,057][ERROR][ThreadPoolExecutor-0_0][traffic.py:1434] 未实现指标函数: highwayEmergencyLaneStopped
    538. 

  538. [2025-04-16 09:47:37,057][ERROR][ThreadPoolExecutor-0_0][traffic.py:1434] 未实现指标函数: UrbanExpresswayOrHighwaySpeedUnderLimit
    539. 

  539. [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
    540. 

  540. [2025-04-16 09:47:37,057][ERROR][ThreadPoolExecutor-0_0][traffic.py:1434] 未实现指标函数: NoStraightThrough
    541. 

  541. [2025-04-16 09:47:37,057][ERROR][ThreadPoolExecutor-0_0][traffic.py:1434] 未实现指标函数: SpeedLimitViolation
    542. 

  542. [2025-04-16 09:47:37,057][ERROR][ThreadPoolExecutor-0_0][traffic.py:1434] 未实现指标函数: MinimumSpeedLimitViolation
    543. 

  543. [2025-04-16 09:47:37,057][ERROR][ThreadPoolExecutor-0_0][traffic.py:1434] 未实现指标函数: noUTurnViolation
    544. 

  544. [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']
    545. 

  545. [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']
    546. 

  546. [2025-04-16 09:47:37,059][ERROR][ThreadPoolExecutor-0_3][function.py:538] 未实现指标函数: latestWarningDistance_TTC
    547. 

  547. [2025-04-16 09:47:37,059][ERROR][ThreadPoolExecutor-0_3][function.py:538] 未实现指标函数: latestWarningDistance
    548. 

  548. [2025-04-16 09:47:37,059][INFO][ThreadPoolExecutor-0_3][function.py:552] 功能指标计算结果:{}
    549. 

  549. [2025-04-16 09:47:37,062][INFO][MainThread][score.py:38] 模块名称：safety
    550. 

  550. [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}}}
    551. 

  551. [2025-04-16 09:47:37,062][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5}
    552. 

  552. [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}
    553. 

  553. [2025-04-16 09:47:37,083][INFO][MainThread][score.py:38] 模块名称：comfort
    554. 

  554. [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}}}
    555. 

  555. [2025-04-16 09:47:37,083][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5}
    556. 

  556. [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}
    557. 

  557. [2025-04-16 09:47:37,401][INFO][MainThread][score.py:38] 模块名称：traffic
    558. 

  558. [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}}}
    559. 

  559. [2025-04-16 09:47:37,401][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5}
    560. 

  560. [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}
    561. 

  561. [2025-04-16 09:47:38,265][INFO][MainThread][score.py:38] 模块名称：efficient
    562. 

  562. [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}}}
    563. 

  563. [2025-04-16 09:47:38,265][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5}
    564. 

  564. [2025-04-16 09:47:38,265][INFO][MainThread][score.py:38] 模块名称：function
    565. 

  565. [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}}}
    566. 

  566. [2025-04-16 09:47:38,265][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5}
    567. 

  567. [2025-04-16 09:47:38,266][INFO][MainThread][score.py:38] 模块名称：user
    568. 

  568. [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}}}
    569. 

  569. [2025-04-16 09:47:38,266][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5}
    570. 

  570. [2025-04-16 09:47:38,266][INFO][MainThread][evaluator_optimized.py:328] 评测自定义指标: user.safetime.CustomTTC
    571. 

  571. [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
    572. 

  572. [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
    573. 

  573. [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
    574. 

  574. [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
    575. 

  575. [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']
    576. 

  576. [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
    577. 

  577. [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
    578. 

  578. [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
    579. 

  579. [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
    580. 

  580. [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
    581. 

  581. [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}
    582. 

  582. [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']
    583. 

  583. [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']
    584. 

  584. [2025-04-16 09:48:56,613][ERROR][ThreadPoolExecutor-0_1][traffic.py:1434] 未实现指标函数: higwayreverse
    585. 

  585. [2025-04-16 09:48:56,613][ERROR][ThreadPoolExecutor-0_1][traffic.py:1434] 未实现指标函数: higwayDrivingAgainst
    586. 

  586. [2025-04-16 09:48:56,613][ERROR][ThreadPoolExecutor-0_1][traffic.py:1434] 未实现指标函数: highwayEmergencyLaneStopped
    587. 

  587. [2025-04-16 09:48:56,613][ERROR][ThreadPoolExecutor-0_1][traffic.py:1434] 未实现指标函数: UrbanExpresswayOrHighwaySpeedUnderLimit
    588. 

  588. [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
    589. 

  589. [2025-04-16 09:48:56,614][ERROR][ThreadPoolExecutor-0_1][traffic.py:1434] 未实现指标函数: NoStraightThrough
    590. 

  590. [2025-04-16 09:48:56,614][ERROR][ThreadPoolExecutor-0_1][traffic.py:1434] 未实现指标函数: SpeedLimitViolation
    591. 

  591. [2025-04-16 09:48:56,614][ERROR][ThreadPoolExecutor-0_1][traffic.py:1434] 未实现指标函数: MinimumSpeedLimitViolation
    592. 

  592. [2025-04-16 09:48:56,614][ERROR][ThreadPoolExecutor-0_1][traffic.py:1434] 未实现指标函数: noUTurnViolation
    593. 

  593. [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']
    594. 

  594. [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']
    595. 

  595. [2025-04-16 09:48:56,616][ERROR][ThreadPoolExecutor-0_3][function.py:538] 未实现指标函数: latestWarningDistance_TTC
    596. 

  596. [2025-04-16 09:48:56,616][INFO][MainThread][score.py:38] 模块名称：safety
    597. 

  597. [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}}}
    598. 

  598. [2025-04-16 09:48:56,616][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5}
    599. 

  599. [2025-04-16 09:48:56,616][ERROR][ThreadPoolExecutor-0_3][function.py:538] 未实现指标函数: latestWarningDistance
    600. 

  600. [2025-04-16 09:48:56,616][INFO][ThreadPoolExecutor-0_3][function.py:552] 功能指标计算结果:{}
    601. 

  601. [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}
    602. 

  602. [2025-04-16 09:48:56,641][INFO][MainThread][score.py:38] 模块名称：comfort
    603. 

  603. [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}}}
    604. 

  604. [2025-04-16 09:48:56,641][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5}
    605. 

  605. [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}
    606. 

  606. [2025-04-16 09:48:56,995][INFO][MainThread][score.py:38] 模块名称：traffic
    607. 

  607. [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}}}
    608. 

  608. [2025-04-16 09:48:56,995][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5}
    609. 

  609. [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}
    610. 

  610. [2025-04-16 09:48:57,864][INFO][MainThread][score.py:38] 模块名称：efficient
    611. 

  611. [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}}}
    612. 

  612. [2025-04-16 09:48:57,864][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5}
    613. 

  613. [2025-04-16 09:48:57,864][INFO][MainThread][score.py:38] 模块名称：function
    614. 

  614. [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}}}
    615. 

  615. [2025-04-16 09:48:57,864][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5}
    616. 

  616. [2025-04-16 09:48:57,865][INFO][MainThread][score.py:38] 模块名称：user
    617. 

  617. [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}}}
    618. 

  618. [2025-04-16 09:48:57,865][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5}
    619. 

  619. [2025-04-16 09:48:57,865][INFO][MainThread][evaluator_optimized.py:328] 评测自定义指标: user.safetime.CustomTTC
    620. 

  620. [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
    621. 

  621. [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
    622. 

  622. [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
    623. 

  623. [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
    624. 

  624. [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
    625. 

  625. [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']
    626. 

  626. [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
    627. 

  627. [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
    628. 

  628. [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
    629. 

  629. [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
    630. 

  630. [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
    631. 

  631. [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}
    632. 

  632. [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']
    633. 

  633. [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']
    634. 

  634. [2025-04-16 09:51:42,630][ERROR][ThreadPoolExecutor-0_1][traffic.py:1434] 未实现指标函数: higwayreverse
    635. 

  635. [2025-04-16 09:51:42,630][ERROR][ThreadPoolExecutor-0_1][traffic.py:1434] 未实现指标函数: higwayDrivingAgainst
    636. 

  636. [2025-04-16 09:51:42,630][ERROR][ThreadPoolExecutor-0_1][traffic.py:1434] 未实现指标函数: highwayEmergencyLaneStopped
    637. 

  637. [2025-04-16 09:51:42,630][ERROR][ThreadPoolExecutor-0_1][traffic.py:1434] 未实现指标函数: UrbanExpresswayOrHighwaySpeedUnderLimit
    638. 

  638. [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
    639. 

  639. [2025-04-16 09:51:42,630][ERROR][ThreadPoolExecutor-0_1][traffic.py:1434] 未实现指标函数: NoStraightThrough
    640. 

  640. [2025-04-16 09:51:42,630][ERROR][ThreadPoolExecutor-0_1][traffic.py:1434] 未实现指标函数: SpeedLimitViolation
    641. 

  641. [2025-04-16 09:51:42,630][ERROR][ThreadPoolExecutor-0_1][traffic.py:1434] 未实现指标函数: MinimumSpeedLimitViolation
    642. 

  642. [2025-04-16 09:51:42,630][ERROR][ThreadPoolExecutor-0_1][traffic.py:1434] 未实现指标函数: noUTurnViolation
    643. 

  643. [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']
    644. 

  644. [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']
    645. 

  645. [2025-04-16 09:51:42,634][INFO][MainThread][score.py:38] 模块名称：safety
    646. 

  646. [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}}}
    647. 

  647. [2025-04-16 09:51:42,634][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5}
    648. 

  648. [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}
    649. 

  649. [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}
    650. 

  650. [2025-04-16 09:51:42,662][INFO][MainThread][score.py:38] 模块名称：comfort
    651. 

  651. [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}}}
    652. 

  652. [2025-04-16 09:51:42,662][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5}
    653. 

  653. [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}
    654. 

  654. [2025-04-16 09:51:43,033][INFO][MainThread][score.py:38] 模块名称：traffic
    655. 

  655. [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}}}
    656. 

  656. [2025-04-16 09:51:43,033][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5}
    657. 

  657. [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}
    658. 

  658. [2025-04-16 09:51:43,922][INFO][MainThread][score.py:38] 模块名称：efficient
    659. 

  659. [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}}}
    660. 

  660. [2025-04-16 09:51:43,922][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5}
    661. 

  661. [2025-04-16 09:51:43,922][INFO][MainThread][score.py:38] 模块名称：function
    662. 

  662. [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}}}
    663. 

  663. [2025-04-16 09:51:43,922][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5}
    664. 

  664. [2025-04-16 09:51:43,923][INFO][MainThread][score.py:38] 模块名称：user
    665. 

  665. [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}}}
    666. 

  666. [2025-04-16 09:51:43,923][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5}
    667. 

  667. [2025-04-16 09:51:43,923][INFO][MainThread][evaluator_optimized.py:328] 评测自定义指标: user.safetime.CustomTTC
    668.