zhaoyuan/custom_metrics/metric_safety_safeTime_CustomTTC.py

"""自定义TTC指标评测脚本

此脚本实现了一个自定义的TTC(Time To Collision)指标评测逻辑
"""
from typing import Dict, Any
import math
from modules.lib.score import Score
import logging
from modules.lib.metric_registry import BaseMetric

# 指定指标类别
METRIC_CATEGORY = "safety"

class CustomTTCMetric(BaseMetric):
    """自定义TTC指标类"""
    
    def __init__(self, data: Any):
        """初始化指标
        
        Args:
            data: 输入数据，包含场景、轨迹等信息
        """
        super().__init__(data)
    
    def calculate(self) -> Dict[str, Any]:
        """计算指标
        
        Returns:
            计算结果字典，包含指标值、评分和详细信息
        """
        try:
            # 计算最小TTC值
            min_ttc = self._calculate_min_ttc()
            
            # 构建返回结果
            result =  {"CustomTTC": min_ttc}
            
            return result
            
        except Exception as e:
            logging.error(f"评测CustomTTC指标失败: {str(e)}")
            return {
                "value": 0.0,
                "score": 0,
                "details": {"error": str(e)}
            }
    
    def _calculate_min_ttc(self) -> float:
        """计算最小TTC值
        
        Returns:
            最小TTC值
        """
        if self.data is None or not hasattr(self.data, 'ego_data'):
            raise ValueError("输入数据不能为空或格式不正确")
        
        # 初始化为一个较大的值
        min_ttc = float('inf')
        
        # 这里应该实现实际的TTC计算逻辑
        # 示例：遍历所有时间点，计算ego车辆与其他车辆的TTC
        
        # 临时使用固定值代替实际计算
        min_ttc = 1.0
        
        return min_ttc