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test.log 25 KB
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  1. [2025-04-27 19:00:07,096][INFO][MainThread][evaluator_enhanced.py:134] Loaded config: config/all_metrics_config.yaml
    2. 

  2. [2025-04-27 19:00:07,098][INFO][MainThread][evaluator_enhanced.py:134] Loaded config: config/custom_metrics_config.yaml
    3. 

  3. [2025-04-27 19:00:07,490][INFO][MainThread][evaluator_enhanced.py:204] Loaded builtin metrics: safety, comfort, traffic, efficient, function
    4. 

  4. [2025-04-27 19:00:07,491][INFO][MainThread][evaluator_enhanced.py:264] Loaded function-based custom metric: user.safeTime.CustomTTC
    5. 

  5. [2025-04-27 19:00:07,491][INFO][MainThread][evaluator_enhanced.py:258] Loaded class-based custom metric: safety.safeTime.CustomTTC
    6. 

  6. [2025-04-27 19:00:07,491][INFO][MainThread][evaluator_enhanced.py:229] Loaded 2 custom metric modules
    7. 

  7. [2025-04-27 19:00:07,609][INFO][MainThread][evaluator_enhanced.py:516] Start evaluation: V2V_CSAE53-2020_ForwardCollisionW_LST_01-01
    8. 

  8. [2025-04-27 19:00:07,609][INFO][ThreadPoolExecutor-0_0][safety.py:130] 评比的安全指标列表:['CustomTTC', 'TTC', 'MTTC', 'THW', 'LonSD', 'LatSD', 'BTN', 'collisionRisk', 'collisionSeverity']
    9. 

  9. [2025-04-27 19:00:07,609][WARNING][ThreadPoolExecutor-0_0][safety.py:141] 未实现安全指标函数: calculate_customttc
    10. 

  10. [2025-04-27 19:00:07,609][INFO][ThreadPoolExecutor-0_1][comfort.py:130] 评比的舒适性指标列表:['Weaving', 'shake', 'cadence', 'slamBrake', 'slamAccelerate']
    11. 

  11. [2025-04-27 19:00:07,611][INFO][ThreadPoolExecutor-0_2][traffic.py:311] 评比的交通违规指标列表:['urbanExpresswayOrHighwaySpeedOverLimit50', 'urbanExpresswayOrHighwayDrivingLaneStopped', 'urbanExpresswayOrHighwayEmergencyLaneStopped', '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', 'turn_in_forbiden_turn_left_sign', 'turn_in_forbiden_turn_back_sign', 'avoid_pedestrian_when_turn_back', 'urbanExpresswayOrHighwaySpeedOverLimit0to20', 'urbanExpresswayOrHighwayRideLaneDivider', 'generalRoadIrregularLaneUse']
    12. 

  12. [2025-04-27 19:00:07,611][INFO][ThreadPoolExecutor-0_3][efficient.py:199] 评比的高效性指标列表:['maxSpeed', 'deviationSpeed', 'averagedSpeed', 'stopDuration']
    13. 

  13. [2025-04-27 19:00:07,611][INFO][ThreadPoolExecutor-0_4][function.py:539] 评比的功能指标列表:['latestWarningDistance_TTC_LST', 'earliestWarningDistance_TTC_LST', 'latestWarningDistance_LST', 'earliestWarningDistance_LST']
    14. 

  14. [2025-04-27 19:00:07,612][INFO][ThreadPoolExecutor-0_4][function.py:564] 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}
    15. 

  15. [2025-04-27 19:00:07,614][INFO][ThreadPoolExecutor-0_0][safety.py:202] SafetyCalculator初始化完成，场景中包含自车的目标物一共为: 2
    16. 

  16. [2025-04-27 19:00:07,616][INFO][ThreadPoolExecutor-0_0][safety.py:215] 开始执行安全参数计算 _safe_param_cal_new
    17. 

  17. [2025-04-27 19:00:07,616][DEBUG][ThreadPoolExecutor-0_0][safety.py:220] 进入 _safe_param_cal_new 方法
    18. 

  18. [2025-04-27 19:00:07,647][INFO][ThreadPoolExecutor-0_1][comfort.py:152] 舒适性指标[Weaving]计算结果: {'weaving': 0.0}
    19. 

  19. [2025-04-27 19:00:07,657][INFO][ThreadPoolExecutor-0_2][traffic.py:333] 交通违规指标[urbanExpresswayOrHighwaySpeedOverLimit50]计算结果: {'urbanExpresswayOrHighwaySpeedOverLimit50': 0}
    20. 

  20. [2025-04-27 19:00:07,665][INFO][ThreadPoolExecutor-0_3][efficient.py:220] 高效性指标[maxSpeed]计算结果: {'maxSpeed': 20.676414389347105}
    21. 

  21. [2025-04-27 19:00:07,721][INFO][ThreadPoolExecutor-0_2][traffic.py:333] 交通违规指标[urbanExpresswayOrHighwayDrivingLaneStopped]计算结果: {'urbanExpresswayOrHighwayDrivingLaneStopped': 0}
    22. 

  22. [2025-04-27 19:00:07,734][INFO][ThreadPoolExecutor-0_3][efficient.py:220] 高效性指标[deviationSpeed]计算结果: {'deviationSpeed': 13.1818022173034}
    23. 

  23. [2025-04-27 19:00:07,767][INFO][ThreadPoolExecutor-0_1][comfort.py:152] 舒适性指标[shake]计算结果: {'shake': 0.0}
    24. 

  24. [2025-04-27 19:00:07,786][INFO][ThreadPoolExecutor-0_2][traffic.py:333] 交通违规指标[urbanExpresswayOrHighwayEmergencyLaneStopped]计算结果: {'urbanExpresswayOrHighwayEmergencyLaneStopped': 0}
    25. 

  25. [2025-04-27 19:00:07,787][INFO][ThreadPoolExecutor-0_3][efficient.py:220] 高效性指标[averagedSpeed]计算结果: {'averagedSpeed': 16.344248544283563}
    26. 

  26. [2025-04-27 19:00:07,817][INFO][ThreadPoolExecutor-0_2][traffic.py:333] 交通违规指标[urbanExpresswayEmergencyLaneDriving]计算结果: {'urbanExpresswayEmergencyLaneDriving': 0}
    27. 

  27. [2025-04-27 19:00:07,828][INFO][ThreadPoolExecutor-0_2][traffic.py:333] 交通违规指标[trafficSignalViolation]计算结果: {'trafficSignalViolation': 0}
    28. 

  28. [2025-04-27 19:00:07,862][INFO][ThreadPoolExecutor-0_1][comfort.py:152] 舒适性指标[cadence]计算结果: {'cadence': 0.0}
    29. 

  29. [2025-04-27 19:00:07,870][INFO][ThreadPoolExecutor-0_3][efficient.py:120] 检测到停车次数: 0, 平均停车时长: 0.00秒
    30. 

  30. [2025-04-27 19:00:07,870][INFO][ThreadPoolExecutor-0_3][efficient.py:220] 高效性指标[stopDuration]计算结果: {'stopDuration': 0.0}
    31. 

  31. [2025-04-27 19:00:07,870][INFO][ThreadPoolExecutor-0_3][efficient.py:224] 高效性指标计算结果:{'maxSpeed': 20.676414389347105, 'deviationSpeed': 13.1818022173034, 'averagedSpeed': 16.344248544283563, 'stopDuration': 0.0}
    32. 

  32. [2025-04-27 19:00:07,884][INFO][ThreadPoolExecutor-0_2][traffic.py:333] 交通违规指标[urbanExpresswayOrHighwaySpeedOverLimit20to50]计算结果: {'urbanExpresswayOrHighwaySpeedOverLimit20to50': 0}
    33. 

  33. [2025-04-27 19:00:07,978][INFO][ThreadPoolExecutor-0_2][traffic.py:333] 交通违规指标[generalRoadSpeedOverLimit50]计算结果: {'generalRoadSpeedOverLimit50': 0}
    34. 

  34. [2025-04-27 19:00:07,997][INFO][ThreadPoolExecutor-0_1][comfort.py:152] 舒适性指标[slamBrake]计算结果: {'slamBrake': 0.0}
    35. 

  35. [2025-04-27 19:00:08,110][INFO][ThreadPoolExecutor-0_1][comfort.py:152] 舒适性指标[slamAccelerate]计算结果: {'slamAccelerate': 1.0}
    36. 

  36. [2025-04-27 19:00:08,110][INFO][ThreadPoolExecutor-0_1][comfort.py:156] 舒适性指标计算结果:{'weaving': 0.0, 'shake': 0.0, 'cadence': 0.0, 'slamBrake': 0.0, 'slamAccelerate': 1.0}
    37. 

  37. [2025-04-27 19:00:08,120][INFO][ThreadPoolExecutor-0_2][traffic.py:333] 交通违规指标[generalRoadSpeedOverLimit20to50]计算结果: {'generalRoadSpeedOverLimit20to50': 488}
    38. 

  38. [2025-04-27 19:00:08,159][INFO][ThreadPoolExecutor-0_2][traffic.py:333] 交通违规指标[UrbanExpresswayOrHighwaySpeedUnderLimit]计算结果: {'urbanExpresswayOrHighwaySpeedUnderLimit': 0}
    39. 

  39. [2025-04-27 19:00:08,168][INFO][ThreadPoolExecutor-0_2][traffic.py:333] 交通违规指标[illegalDrivingOrParkingAtCrossroads]计算结果: {'illegalDrivingOrParkingAtCrossroads': 0}
    40. 

  40. [2025-04-27 19:00:08,758][INFO][ThreadPoolExecutor-0_0][safety.py:217] 安全参数计算完成
    41. 

  41. [2025-04-27 19:00:08,759][INFO][ThreadPoolExecutor-0_0][safety.py:42] 安全指标[TTC]计算结果: 3.9658956620331374
    42. 

  42. [2025-04-27 19:00:08,761][INFO][ThreadPoolExecutor-0_0][safety.py:202] SafetyCalculator初始化完成，场景中包含自车的目标物一共为: 2
    43. 

  43. [2025-04-27 19:00:08,763][INFO][ThreadPoolExecutor-0_0][safety.py:215] 开始执行安全参数计算 _safe_param_cal_new
    44. 

  44. [2025-04-27 19:00:08,763][DEBUG][ThreadPoolExecutor-0_0][safety.py:220] 进入 _safe_param_cal_new 方法
    45. 

  45. [2025-04-27 19:00:09,716][INFO][ThreadPoolExecutor-0_0][safety.py:217] 安全参数计算完成
    46. 

  46. [2025-04-27 19:00:09,716][INFO][ThreadPoolExecutor-0_0][safety.py:55] 安全指标[MTTC]计算结果: 4.86372220526698
    47. 

  47. [2025-04-27 19:00:09,719][INFO][ThreadPoolExecutor-0_0][safety.py:202] SafetyCalculator初始化完成，场景中包含自车的目标物一共为: 2
    48. 

  48. [2025-04-27 19:00:09,720][INFO][ThreadPoolExecutor-0_0][safety.py:215] 开始执行安全参数计算 _safe_param_cal_new
    49. 

  49. [2025-04-27 19:00:09,720][DEBUG][ThreadPoolExecutor-0_0][safety.py:220] 进入 _safe_param_cal_new 方法
    50. 

  50. [2025-04-27 19:00:10,685][INFO][ThreadPoolExecutor-0_0][safety.py:217] 安全参数计算完成
    51. 

  51. [2025-04-27 19:00:10,685][INFO][ThreadPoolExecutor-0_0][safety.py:68] 安全指标[THW]计算结果: 3.9658956620331374
    52. 

  52. [2025-04-27 19:00:10,687][INFO][ThreadPoolExecutor-0_0][safety.py:202] SafetyCalculator初始化完成，场景中包含自车的目标物一共为: 2
    53. 

  53. [2025-04-27 19:00:10,689][INFO][ThreadPoolExecutor-0_0][safety.py:215] 开始执行安全参数计算 _safe_param_cal_new
    54. 

  54. [2025-04-27 19:00:10,689][DEBUG][ThreadPoolExecutor-0_0][safety.py:220] 进入 _safe_param_cal_new 方法
    55. 

  55. [2025-04-27 19:00:11,652][INFO][ThreadPoolExecutor-0_0][safety.py:217] 安全参数计算完成
    56. 

  56. [2025-04-27 19:00:11,652][INFO][ThreadPoolExecutor-0_0][safety.py:85] 安全指标[LonSD]计算结果: 833.5566131224568
    57. 

  57. [2025-04-27 19:00:11,655][INFO][ThreadPoolExecutor-0_0][safety.py:202] SafetyCalculator初始化完成，场景中包含自车的目标物一共为: 2
    58. 

  58. [2025-04-27 19:00:11,656][INFO][ThreadPoolExecutor-0_0][safety.py:215] 开始执行安全参数计算 _safe_param_cal_new
    59. 

  59. [2025-04-27 19:00:11,656][DEBUG][ThreadPoolExecutor-0_0][safety.py:220] 进入 _safe_param_cal_new 方法
    60. 

  60. [2025-04-27 19:00:12,612][INFO][ThreadPoolExecutor-0_0][safety.py:217] 安全参数计算完成
    61. 

  61. [2025-04-27 19:00:12,613][INFO][ThreadPoolExecutor-0_0][safety.py:92] 安全指标[LatSD]计算结果: 3.2
    62. 

  62. [2025-04-27 19:00:12,615][INFO][ThreadPoolExecutor-0_0][safety.py:202] SafetyCalculator初始化完成，场景中包含自车的目标物一共为: 2
    63. 

  63. [2025-04-27 19:00:12,617][INFO][ThreadPoolExecutor-0_0][safety.py:215] 开始执行安全参数计算 _safe_param_cal_new
    64. 

  64. [2025-04-27 19:00:12,617][DEBUG][ThreadPoolExecutor-0_0][safety.py:220] 进入 _safe_param_cal_new 方法
    65. 

  65. [2025-04-27 19:00:13,535][INFO][ThreadPoolExecutor-0_0][safety.py:217] 安全参数计算完成
    66. 

  66. [2025-04-27 19:00:13,536][INFO][ThreadPoolExecutor-0_0][safety.py:99] 安全指标[BTN]计算结果: 1.7775077629321492
    67. 

  67. [2025-04-27 19:00:13,538][INFO][ThreadPoolExecutor-0_0][safety.py:202] SafetyCalculator初始化完成，场景中包含自车的目标物一共为: 2
    68. 

  68. [2025-04-27 19:00:13,540][INFO][ThreadPoolExecutor-0_0][safety.py:215] 开始执行安全参数计算 _safe_param_cal_new
    69. 

  69. [2025-04-27 19:00:13,540][DEBUG][ThreadPoolExecutor-0_0][safety.py:220] 进入 _safe_param_cal_new 方法
    70. 

  70. [2025-04-27 19:00:14,505][INFO][ThreadPoolExecutor-0_0][safety.py:217] 安全参数计算完成
    71. 

  71. [2025-04-27 19:00:14,506][INFO][ThreadPoolExecutor-0_0][safety.py:78] 安全指标[collisionRisk]计算结果: 0.0
    72. 

  72. [2025-04-27 19:00:14,508][INFO][ThreadPoolExecutor-0_0][safety.py:202] SafetyCalculator初始化完成，场景中包含自车的目标物一共为: 2
    73. 

  73. [2025-04-27 19:00:14,510][INFO][ThreadPoolExecutor-0_0][safety.py:215] 开始执行安全参数计算 _safe_param_cal_new
    74. 

  74. [2025-04-27 19:00:14,510][DEBUG][ThreadPoolExecutor-0_0][safety.py:220] 进入 _safe_param_cal_new 方法
    75. 

  75. [2025-04-27 19:00:15,441][INFO][ThreadPoolExecutor-0_0][safety.py:217] 安全参数计算完成
    76. 

  76. [2025-04-27 19:00:15,442][INFO][ThreadPoolExecutor-0_0][safety.py:106] 安全指标[collisionSeverity]计算结果: 0.0
    77. 

  77. [2025-04-27 19:00:15,442][INFO][ThreadPoolExecutor-0_0][safety.py:154] 安全指标计算结果:{'TTC': 3.9658956620331374, 'MTTC': 4.86372220526698, 'THW': 3.9658956620331374, 'LonSD': 833.5566131224568, 'LatSD': 3.2, 'BTN': 1.7775077629321492, 'collisionRisk': 0.0, 'collisionSeverity': 0.0}
    78. 

  78. [2025-04-27 19:00:15,457][INFO][ThreadPoolExecutor-0_2][traffic.py:333] 交通违规指标[overtake_on_right]计算结果: {'overtake_on_right': 0}
    79. 

  79. [2025-04-27 19:00:15,821][INFO][ThreadPoolExecutor-0_2][traffic.py:333] 交通违规指标[overtake_when_turn_around]计算结果: {'overtake_when_turn_around': np.int64(0)}
    80. 

  80. [2025-04-27 19:00:16,185][INFO][ThreadPoolExecutor-0_2][traffic.py:333] 交通违规指标[overtake_when_passing_car]计算结果: {'overtake_when_passing_car': 0}
    81. 

  81. [2025-04-27 19:00:16,187][INFO][ThreadPoolExecutor-0_2][traffic.py:333] 交通违规指标[overtake_in_forbid_lane]计算结果: {'overtake_in_forbid_lane': 0}
    82. 

  82. [2025-04-27 19:00:16,188][INFO][ThreadPoolExecutor-0_2][traffic.py:333] 交通违规指标[overtake_in_ramp]计算结果: {'overtake_in_ramp': 0}
    83. 

  83. [2025-04-27 19:00:16,188][INFO][ThreadPoolExecutor-0_2][traffic.py:333] 交通违规指标[overtake_in_tunnel]计算结果: {'overtake_in_tunnel': 0}
    84. 

  84. [2025-04-27 19:00:16,189][INFO][ThreadPoolExecutor-0_2][traffic.py:333] 交通违规指标[overtake_on_accelerate_lane]计算结果: {'overtake_on_accelerate_lane': 0}
    85. 

  85. [2025-04-27 19:00:16,190][INFO][ThreadPoolExecutor-0_2][traffic.py:333] 交通违规指标[overtake_on_decelerate_lane]计算结果: {'overtake_on_decelerate_lane': 0}
    86. 

  86. [2025-04-27 19:00:16,191][INFO][ThreadPoolExecutor-0_2][traffic.py:333] 交通违规指标[overtake_in_different_senerios]计算结果: {'overtake_in_different_senerios': 0}
    87. 

  87. [2025-04-27 19:00:16,192][INFO][ThreadPoolExecutor-0_2][traffic.py:333] 交通违规指标[slow_down_in_crosswalk]计算结果: {'slowdown_down_in_crosswalk': 0}
    88. 

  88. [2025-04-27 19:00:16,193][INFO][ThreadPoolExecutor-0_2][traffic.py:333] 交通违规指标[avoid_pedestrian_in_crosswalk]计算结果: {'avoid_pedestrian_in_crosswalk': 0}
    89. 

  89. [2025-04-27 19:00:16,193][INFO][ThreadPoolExecutor-0_2][traffic.py:333] 交通违规指标[avoid_pedestrian_in_the_road]计算结果: {'avoid_pedestrian_in_the_road': 0}
    90. 

  90. [2025-04-27 19:00:16,193][INFO][ThreadPoolExecutor-0_2][traffic.py:333] 交通违规指标[avoid_pedestrian_when_turning]计算结果: {'avoid_pedestrian_when_turning_count': 0}
    91. 

  91. [2025-04-27 19:00:16,194][INFO][ThreadPoolExecutor-0_2][traffic.py:333] 交通违规指标[NoStraightThrough]计算结果: {'NoStraightThrough': 0}
    92. 

  92. [2025-04-27 19:00:16,195][INFO][ThreadPoolExecutor-0_2][traffic.py:333] 交通违规指标[SpeedLimitViolation]计算结果: {'SpeedLimitViolation': 0}
    93. 

  93. [2025-04-27 19:00:16,196][INFO][ThreadPoolExecutor-0_2][traffic.py:333] 交通违规指标[MinimumSpeedLimitViolation]计算结果: {'MinimumSpeedLimitViolation': 0}
    94. 

  94. [2025-04-27 19:00:16,197][INFO][ThreadPoolExecutor-0_2][traffic.py:333] 交通违规指标[turn_in_forbiden_turn_left_sign]计算结果: {'turn_in_forbiden_turn_left_sign': 0}
    95. 

  95. [2025-04-27 19:00:16,198][INFO][ThreadPoolExecutor-0_2][traffic.py:333] 交通违规指标[turn_in_forbiden_turn_back_sign]计算结果: {'turn_in_forbiden_turn_back_sign': 0}
    96. 

  96. [2025-04-27 19:00:16,198][INFO][ThreadPoolExecutor-0_2][traffic.py:333] 交通违规指标[avoid_pedestrian_when_turn_back]计算结果: {'avoid_pedestrian_when_turn_back': 0}
    97. 

  97. [2025-04-27 19:00:16,201][INFO][ThreadPoolExecutor-0_2][traffic.py:333] 交通违规指标[urbanExpresswayOrHighwaySpeedOverLimit0to20]计算结果: {'urbanExpresswayOrHighwaySpeedOverLimit0to20': 0}
    98. 

  98. [2025-04-27 19:00:16,202][INFO][ThreadPoolExecutor-0_2][traffic.py:333] 交通违规指标[urbanExpresswayOrHighwayRideLaneDivider]计算结果: {'urbanExpresswayOrHighwayRideLaneDivider': 3}
    99. 

  99. [2025-04-27 19:00:16,203][INFO][ThreadPoolExecutor-0_2][traffic.py:333] 交通违规指标[generalRoadIrregularLaneUse]计算结果: {'generalRoadIrregularLaneUse': 0}
    100. 

  100. [2025-04-27 19:00:16,203][INFO][ThreadPoolExecutor-0_2][traffic.py:337] 交通违规指标计算结果:{'urbanExpresswayOrHighwaySpeedOverLimit50': 0, 'urbanExpresswayOrHighwayDrivingLaneStopped': 0, 'urbanExpresswayOrHighwayEmergencyLaneStopped': 0, 'urbanExpresswayEmergencyLaneDriving': 0, 'trafficSignalViolation': 0, 'urbanExpresswayOrHighwaySpeedOverLimit20to50': 0, 'generalRoadSpeedOverLimit50': 0, 'generalRoadSpeedOverLimit20to50': 488, 'urbanExpresswayOrHighwaySpeedUnderLimit': 0, '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, 'avoid_pedestrian_when_turning_count': 0, 'NoStraightThrough': 0, 'SpeedLimitViolation': 0, 'MinimumSpeedLimitViolation': 0, 'turn_in_forbiden_turn_left_sign': 0, 'turn_in_forbiden_turn_back_sign': 0, 'avoid_pedestrian_when_turn_back': 0, 'urbanExpresswayOrHighwaySpeedOverLimit0to20': 0, 'urbanExpresswayOrHighwayRideLaneDivider': 3, 'generalRoadIrregularLaneUse': 0}
    101. 

  101. [2025-04-27 19:00:16,203][INFO][MainThread][evaluator_enhanced.py:374] Calculated custom metric: user.safeTime.CustomTTC
    102. 

  102. [2025-04-27 19:00:16,203][INFO][MainThread][evaluator_enhanced.py:374] Calculated custom metric: safety.safeTime.CustomTTC
    103. 

  103. [2025-04-27 19:00:16,203][INFO][MainThread][score.py:38] 模块名称：safety
    104. 

  104. [2025-04-27 19:00:16,203][INFO][MainThread][score.py:39] 模块配置：{'name': 'safety', 'priority': 0, 'safeTime': {'name': 'safetime', 'priority': 0, 'CustomTTC': {'name': 'CustomTTC', 'priority': 0, 'max': 20.0, 'min': 3.5}, '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}}, '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}}}
    105. 

  105. [2025-04-27 19:00:16,203][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5}
    106. 

  106. [2025-04-27 19:00:16,204][INFO][MainThread][score.py:38] 模块名称：comfort
    107. 

  107. [2025-04-27 19:00:16,204][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}}}
    108. 

  108. [2025-04-27 19:00:16,204][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5}
    109. 

  109. [2025-04-27 19:00:16,204][INFO][MainThread][score.py:38] 模块名称：traffic
    110. 

  110. [2025-04-27 19:00:16,204][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}}, 'seriousViolation': {'name': 'seriousViolation', 'priority': 0, 'urbanExpresswayOrHighwayDrivingLaneStopped': {'name': 'urbanExpresswayOrHighwayDrivingLaneStopped', 'priority': 0, 'max': 0, 'min': 0}, 'urbanExpresswayOrHighwayEmergencyLaneStopped': {'name': 'urbanExpresswayOrHighwayEmergencyLaneStopped', '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}, 'aviod_pedestrian_when_turning': {'name': 'aviod_pedestrian_when_turning', 'priority': 0, 'max': 0, 'min': 0}}, 'minorViolation': {'name': 'minorViolation', 'priority': 0, 'turn_in_forbiden_turn_left_sign': {'name': 'turn_in_forbiden_turn_left_sign', 'priority': 0, 'max': 0, 'min': 0}, 'turn_in_forbiden_turn_back_sign': {'name': 'turn_in_forbiden_turn_back_sign', 'priority': 0, 'max': 0, 'min': 0}, 'avoid_pedestrian_when_turn_back': {'name': 'avoid_pedestrian_when_turn_back', '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}}}
    111. 

  111. [2025-04-27 19:00:16,204][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5}
    112. 

  112. [2025-04-27 19:00:16,205][INFO][MainThread][score.py:38] 模块名称：efficient
    113. 

  113. [2025-04-27 19:00:16,205][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}}}
    114. 

  114. [2025-04-27 19:00:16,205][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5}
    115. 

  115. [2025-04-27 19:00:16,205][INFO][MainThread][score.py:38] 模块名称：function
    116. 

  116. [2025-04-27 19:00:16,205][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}}, '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}}}
    117. 

  117. [2025-04-27 19:00:16,205][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5}
    118. 

  118. [2025-04-27 19:00:16,205][INFO][MainThread][score.py:38] 模块名称：user
    119. 

  119. [2025-04-27 19:00:16,205][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}}}
    120. 

  120. [2025-04-27 19:00:16,205][INFO][MainThread][score.py:40] T_threshold: {'T0_threshold': 0, 'T1_threshold': 2, 'T2_threshold': 5}
    121. 

  121. [2025-04-27 19:00:16,205][INFO][MainThread][evaluator_enhanced.py:520] Evaluation completed, time: 8.60s
    122.