From a48fd0ae610a056c0088d473559ee0a00ba691a5 Mon Sep 17 00:00:00 2001 From: y5y5y5yei Date: Thu, 30 Apr 2026 19:00:54 +0800 Subject: [PATCH 1/5] =?UTF-8?q?=E5=AE=8C=E6=88=90=E9=80=89=E9=A2=98?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- src/carla_traffic_light/README.md | 39 + src/carla_traffic_light/code/Requirements.txt | 11 + .../code/automatic_control.py | 846 ++++++++++++++++++ 3 files changed, 896 insertions(+) create mode 100644 src/carla_traffic_light/README.md create mode 100644 src/carla_traffic_light/code/Requirements.txt create mode 100644 src/carla_traffic_light/code/automatic_control.py diff --git a/src/carla_traffic_light/README.md b/src/carla_traffic_light/README.md new file mode 100644 index 0000000000..76adf016de --- /dev/null +++ b/src/carla_traffic_light/README.md @@ -0,0 +1,39 @@ +# CARLA 0.9.11 中的交通灯检测与自主控制 +本项目使用 CARLA 仿真器（0.9.11 版本）实现了一套简易自主控制系统。系统利用摄像头数据检测**交通灯**，并控制车辆**红灯停车**、**绿灯通行**。 + +## 功能特点： +- 利用 RGB 摄像头与边界框进行**交通灯检测**。 +- **启停逻辑**：车辆在红灯时停下，绿灯时恢复行驶。 +- **自主控制**：根据交通灯状态自动调整油门与刹车。 + +## 使用技术 +- **仿真器**：[CARLA Simulator 0.9.11](https://github.com/carla-simulator/carla) +- **语言**：Python 3 +- **库**： + - `pygame` - 用于渲染仿真窗口 + - `cv2`（OpenCV） - 用于图像处理（如需扩展） + - `numpy`、`time`、`math`、`random` - 用于计算与时序逻辑 + +## 工作原理 +1. **传感器配置**：在 CARLA 中为车辆配备前置 RGB 摄像头及其他传感器。 +2. **交通灯检测**： + - 脚本利用 CARLA 内置环境信息（边界框）检测交通灯。 + - 判断信号灯状态（红灯/绿灯）。 +3. **控制逻辑**： + - 若前方出现红灯，车辆执行刹车并停下。 + - 若为绿灯或无相关红灯，车辆继续行驶。 + +## 项目运行方法 +1. **安装 Python 依赖项**： +```bash +pip install pygame opencv-python numpy +``` + +2. **使用方法:** +CarlaUE4.exe # On Windows + +3. **预期行为:** + 车辆在检测到前方红灯时平稳停下。 + 信号灯变绿后恢复行驶。 + 所有行为由控制逻辑自动处理。 + diff --git a/src/carla_traffic_light/code/Requirements.txt b/src/carla_traffic_light/code/Requirements.txt new file mode 100644 index 0000000000..f48808c3f8 --- /dev/null +++ b/src/carla_traffic_light/code/Requirements.txt @@ -0,0 +1,11 @@ +Requirements file: + + +carla==0.9.11 +pygame==2.1.0 +numpy==1.23.5 +opencv-python==4.8.0.76 +matplotlib==3.7.1 +torch==2.0.0 # Only if you're using PyTorch for detection +torchvision==0.15.1 +Pillow==9.4.0 diff --git a/src/carla_traffic_light/code/automatic_control.py b/src/carla_traffic_light/code/automatic_control.py new file mode 100644 index 0000000000..3bce2effc4 --- /dev/null +++ b/src/carla_traffic_light/code/automatic_control.py @@ -0,0 +1,846 @@ +#!/usr/bin/env python + +# Copyright (c) 2018 Intel Labs. +# authors: German Ros (german.ros@intel.com) +# +# This work is licensed under the terms of the MIT license. +# For a copy, see . + +"""Example of automatic vehicle control from client side.""" + +from __future__ import print_function + +import argparse +import collections +import datetime +import glob +import logging +import math +import os +import random +import re +import sys +import weakref + +try: + import pygame + from pygame.locals import KMOD_CTRL + from pygame.locals import K_ESCAPE + from pygame.locals import K_q +except ImportError: + raise RuntimeError('cannot import pygame, make sure pygame package is installed') + +try: + import numpy as np +except ImportError: + raise RuntimeError( + 'cannot import numpy, make sure numpy package is installed') + +# ============================================================================== +# -- Find CARLA module --------------------------------------------------------- +# ============================================================================== +try: + sys.path.append(glob.glob('../carla/dist/carla-*%d.%d-%s.egg' % ( + sys.version_info.major, + sys.version_info.minor, + 'win-amd64' if os.name == 'nt' else 'linux-x86_64'))[0]) +except IndexError: + pass + +# ============================================================================== +# -- Add PythonAPI for release mode -------------------------------------------- +# ============================================================================== +try: + sys.path.append(os.path.dirname(os.path.dirname(os.path.abspath(__file__))) + '/carla') +except IndexError: + pass + +import carla +from carla import ColorConverter as cc + +from agents.navigation.behavior_agent import BehaviorAgent # pylint: disable=import-error +from agents.navigation.roaming_agent import RoamingAgent # pylint: disable=import-error +from agents.navigation.basic_agent import BasicAgent # pylint: disable=import-error + + +# ============================================================================== +# -- Global functions ---------------------------------------------------------- +# ============================================================================== + + +def find_weather_presets(): + """Method to find weather presets""" + rgx = re.compile('.+?(?:(?<=[a-z])(?=[A-Z])|(?<=[A-Z])(?=[A-Z][a-z])|$)') + def name(x): return ' '.join(m.group(0) for m in rgx.finditer(x)) + presets = [x for x in dir(carla.WeatherParameters) if re.match('[A-Z].+', x)] + return [(getattr(carla.WeatherParameters, x), name(x)) for x in presets] + + +def get_actor_display_name(actor, truncate=250): + """Method to get actor display name""" + name = ' '.join(actor.type_id.replace('_', '.').title().split('.')[1:]) + return (name[:truncate - 1] + u'\u2026') if len(name) > truncate else name + + +# ============================================================================== +# -- World --------------------------------------------------------------- +# ============================================================================== + +class World(object): + """ Class representing the surrounding environment """ + + def __init__(self, carla_world, hud, args): + """Constructor method""" + self.world = carla_world + try: + self.map = self.world.get_map() + except RuntimeError as error: + print('RuntimeError: {}'.format(error)) + print(' The server could not send the OpenDRIVE (.xodr) file:') + print(' Make sure it exists, has the same name of your town, and is correct.') + sys.exit(1) + self.hud = hud + self.player = None + self.collision_sensor = None + self.lane_invasion_sensor = None + self.gnss_sensor = None + self.camera_manager = None + self._weather_presets = find_weather_presets() + self._weather_index = 0 + self._actor_filter = args.filter + self._gamma = args.gamma + self.restart(args) + self.world.on_tick(hud.on_world_tick) + self.recording_enabled = False + self.recording_start = 0 + + def restart(self, args): + """Restart the world""" + # Keep same camera config if the camera manager exists. + cam_index = self.camera_manager.index if self.camera_manager is not None else 0 + cam_pos_id = self.camera_manager.transform_index if self.camera_manager is not None else 0 + # Set the seed if requested by user + if args.seed is not None: + random.seed(args.seed) + + # Get a random blueprint. + blueprint = random.choice(self.world.get_blueprint_library().filter(self._actor_filter)) + blueprint.set_attribute('role_name', 'hero') + if blueprint.has_attribute('color'): + color = random.choice(blueprint.get_attribute('color').recommended_values) + blueprint.set_attribute('color', color) + # Spawn the player. + print("Spawning the player") + if self.player is not None: + spawn_point = self.player.get_transform() + spawn_point.location.z += 2.0 + spawn_point.rotation.roll = 0.0 + spawn_point.rotation.pitch = 0.0 + self.destroy() + self.player = self.world.try_spawn_actor(blueprint, spawn_point) + + while self.player is None: + if not self.map.get_spawn_points(): + print('There are no spawn points available in your map/town.') + print('Please add some Vehicle Spawn Point to your UE4 scene.') + sys.exit(1) + spawn_points = self.map.get_spawn_points() + spawn_point = random.choice(spawn_points) if spawn_points else carla.Transform() + self.player = self.world.try_spawn_actor(blueprint, spawn_point) + # Set up the sensors. + self.collision_sensor = CollisionSensor(self.player, self.hud) + self.lane_invasion_sensor = LaneInvasionSensor(self.player, self.hud) + self.gnss_sensor = GnssSensor(self.player) + self.camera_manager = CameraManager(self.player, self.hud, self._gamma) + self.camera_manager.transform_index = cam_pos_id + self.camera_manager.set_sensor(cam_index, notify=False) + actor_type = get_actor_display_name(self.player) + self.hud.notification(actor_type) + + def next_weather(self, reverse=False): + """Get next weather setting""" + self._weather_index += -1 if reverse else 1 + self._weather_index %= len(self._weather_presets) + preset = self._weather_presets[self._weather_index] + self.hud.notification('Weather: %s' % preset[1]) + self.player.get_world().set_weather(preset[0]) + + def tick(self, clock): + """Method for every tick""" + self.hud.tick(self, clock) + + def render(self, display): + """Render world""" + self.camera_manager.render(display) + self.hud.render(display) + + def destroy_sensors(self): + """Destroy sensors""" + self.camera_manager.sensor.destroy() + self.camera_manager.sensor = None + self.camera_manager.index = None + + def destroy(self): + """Destroys all actors""" + actors = [ + self.camera_manager.sensor, + self.collision_sensor.sensor, + self.lane_invasion_sensor.sensor, + self.gnss_sensor.sensor, + self.player] + for actor in actors: + if actor is not None: + actor.destroy() + + +# ============================================================================== +# -- KeyboardControl ----------------------------------------------------------- +# ============================================================================== + + +class KeyboardControl(object): + def __init__(self, world): + world.hud.notification("Press 'H' or '?' for help.", seconds=4.0) + + def parse_events(self): + for event in pygame.event.get(): + if event.type == pygame.QUIT: + return True + if event.type == pygame.KEYUP: + if self._is_quit_shortcut(event.key): + return True + + @staticmethod + def _is_quit_shortcut(key): + """Shortcut for quitting""" + return (key == K_ESCAPE) or (key == K_q and pygame.key.get_mods() & KMOD_CTRL) + +# ============================================================================== +# -- HUD ----------------------------------------------------------------------- +# ============================================================================== + + +class HUD(object): + """Class for HUD text""" + + def __init__(self, width, height): + """Constructor method""" + self.dim = (width, height) + font = pygame.font.Font(pygame.font.get_default_font(), 20) + font_name = 'courier' if os.name == 'nt' else 'mono' + fonts = [x for x in pygame.font.get_fonts() if font_name in x] + default_font = 'ubuntumono' + mono = default_font if default_font in fonts else fonts[0] + mono = pygame.font.match_font(mono) + self._font_mono = pygame.font.Font(mono, 12 if os.name == 'nt' else 14) + self._notifications = FadingText(font, (width, 40), (0, height - 40)) + self.help = HelpText(pygame.font.Font(mono, 24), width, height) + self.server_fps = 0 + self.frame = 0 + self.simulation_time = 0 + self._show_info = True + self._info_text = [] + self._server_clock = pygame.time.Clock() + + def on_world_tick(self, timestamp): + """Gets informations from the world at every tick""" + self._server_clock.tick() + self.server_fps = self._server_clock.get_fps() + self.frame = timestamp.frame_count + self.simulation_time = timestamp.elapsed_seconds + + def tick(self, world, clock): + """HUD method for every tick""" + self._notifications.tick(world, clock) + if not self._show_info: + return + transform = world.player.get_transform() + vel = world.player.get_velocity() + control = world.player.get_control() + heading = 'N' if abs(transform.rotation.yaw) < 89.5 else '' + heading += 'S' if abs(transform.rotation.yaw) > 90.5 else '' + heading += 'E' if 179.5 > transform.rotation.yaw > 0.5 else '' + heading += 'W' if -0.5 > transform.rotation.yaw > -179.5 else '' + colhist = world.collision_sensor.get_collision_history() + collision = [colhist[x + self.frame - 200] for x in range(0, 200)] + max_col = max(1.0, max(collision)) + collision = [x / max_col for x in collision] + vehicles = world.world.get_actors().filter('vehicle.*') + + self._info_text = [ + 'Server: % 16.0f FPS' % self.server_fps, + 'Client: % 16.0f FPS' % clock.get_fps(), + '', + 'Vehicle: % 20s' % get_actor_display_name(world.player, truncate=20), + 'Map: % 20s' % world.map.name, + 'Simulation time: % 12s' % datetime.timedelta(seconds=int(self.simulation_time)), + '', + 'Speed: % 15.0f km/h' % (3.6 * math.sqrt(vel.x**2 + vel.y**2 + vel.z**2)), + u'Heading:% 16.0f\N{DEGREE SIGN} % 2s' % (transform.rotation.yaw, heading), + 'Location:% 20s' % ('(% 5.1f, % 5.1f)' % (transform.location.x, transform.location.y)), + 'GNSS:% 24s' % ('(% 2.6f, % 3.6f)' % (world.gnss_sensor.lat, world.gnss_sensor.lon)), + 'Height: % 18.0f m' % transform.location.z, + ''] + if isinstance(control, carla.VehicleControl): + self._info_text += [ + ('Throttle:', control.throttle, 0.0, 1.0), + ('Steer:', control.steer, -1.0, 1.0), + ('Brake:', control.brake, 0.0, 1.0), + ('Reverse:', control.reverse), + ('Hand brake:', control.hand_brake), + ('Manual:', control.manual_gear_shift), + 'Gear: %s' % {-1: 'R', 0: 'N'}.get(control.gear, control.gear)] + elif isinstance(control, carla.WalkerControl): + self._info_text += [ + ('Speed:', control.speed, 0.0, 5.556), + ('Jump:', control.jump)] + self._info_text += [ + '', + 'Collision:', + collision, + '', + 'Number of vehicles: % 8d' % len(vehicles)] + + if len(vehicles) > 1: + self._info_text += ['Nearby vehicles:'] + + def dist(l): + return math.sqrt((l.x - transform.location.x)**2 + (l.y - transform.location.y) + ** 2 + (l.z - transform.location.z)**2) + vehicles = [(dist(x.get_location()), x) for x in vehicles if x.id != world.player.id] + + for dist, vehicle in sorted(vehicles): + if dist > 200.0: + break + vehicle_type = get_actor_display_name(vehicle, truncate=22) + self._info_text.append('% 4dm %s' % (dist, vehicle_type)) + + def toggle_info(self): + """Toggle info on or off""" + self._show_info = not self._show_info + + def notification(self, text, seconds=2.0): + """Notification text""" + self._notifications.set_text(text, seconds=seconds) + + def error(self, text): + """Error text""" + self._notifications.set_text('Error: %s' % text, (255, 0, 0)) + + def render(self, display): + """Render for HUD class""" + if self._show_info: + info_surface = pygame.Surface((220, self.dim[1])) + info_surface.set_alpha(100) + display.blit(info_surface, (0, 0)) + v_offset = 4 + bar_h_offset = 100 + bar_width = 106 + for item in self._info_text: + if v_offset + 18 > self.dim[1]: + break + if isinstance(item, list): + if len(item) > 1: + points = [(x + 8, v_offset + 8 + (1 - y) * 30) for x, y in enumerate(item)] + pygame.draw.lines(display, (255, 136, 0), False, points, 2) + item = None + v_offset += 18 + elif isinstance(item, tuple): + if isinstance(item[1], bool): + rect = pygame.Rect((bar_h_offset, v_offset + 8), (6, 6)) + pygame.draw.rect(display, (255, 255, 255), rect, 0 if item[1] else 1) + else: + rect_border = pygame.Rect((bar_h_offset, v_offset + 8), (bar_width, 6)) + pygame.draw.rect(display, (255, 255, 255), rect_border, 1) + fig = (item[1] - item[2]) / (item[3] - item[2]) + if item[2] < 0.0: + rect = pygame.Rect( + (bar_h_offset + fig * (bar_width - 6), v_offset + 8), (6, 6)) + else: + rect = pygame.Rect((bar_h_offset, v_offset + 8), (fig * bar_width, 6)) + pygame.draw.rect(display, (255, 255, 255), rect) + item = item[0] + if item: # At this point has to be a str. + surface = self._font_mono.render(item, True, (255, 255, 255)) + display.blit(surface, (8, v_offset)) + v_offset += 18 + self._notifications.render(display) + self.help.render(display) + +# ============================================================================== +# -- FadingText ---------------------------------------------------------------- +# ============================================================================== + + +class FadingText(object): + """ Class for fading text """ + + def __init__(self, font, dim, pos): + """Constructor method""" + self.font = font + self.dim = dim + self.pos = pos + self.seconds_left = 0 + self.surface = pygame.Surface(self.dim) + + def set_text(self, text, color=(255, 255, 255), seconds=2.0): + """Set fading text""" + text_texture = self.font.render(text, True, color) + self.surface = pygame.Surface(self.dim) + self.seconds_left = seconds + self.surface.fill((0, 0, 0, 0)) + self.surface.blit(text_texture, (10, 11)) + + def tick(self, _, clock): + """Fading text method for every tick""" + delta_seconds = 1e-3 * clock.get_time() + self.seconds_left = max(0.0, self.seconds_left - delta_seconds) + self.surface.set_alpha(500.0 * self.seconds_left) + + def render(self, display): + """Render fading text method""" + display.blit(self.surface, self.pos) + +# ============================================================================== +# -- HelpText ------------------------------------------------------------------ +# ============================================================================== + + +class HelpText(object): + """ Helper class for text render""" + + def __init__(self, font, width, height): + """Constructor method""" + lines = __doc__.split('\n') + self.font = font + self.dim = (680, len(lines) * 22 + 12) + self.pos = (0.5 * width - 0.5 * self.dim[0], 0.5 * height - 0.5 * self.dim[1]) + self.seconds_left = 0 + self.surface = pygame.Surface(self.dim) + self.surface.fill((0, 0, 0, 0)) + for i, line in enumerate(lines): + text_texture = self.font.render(line, True, (255, 255, 255)) + self.surface.blit(text_texture, (22, i * 22)) + self._render = False + self.surface.set_alpha(220) + + def toggle(self): + """Toggle on or off the render help""" + self._render = not self._render + + def render(self, display): + """Render help text method""" + if self._render: + display.blit(self.surface, self.pos) + +# ============================================================================== +# -- CollisionSensor ----------------------------------------------------------- +# ============================================================================== + + +class CollisionSensor(object): + """ Class for collision sensors""" + + def __init__(self, parent_actor, hud): + """Constructor method""" + self.sensor = None + self.history = [] + self._parent = parent_actor + self.hud = hud + world = self._parent.get_world() + blueprint = world.get_blueprint_library().find('sensor.other.collision') + self.sensor = world.spawn_actor(blueprint, carla.Transform(), attach_to=self._parent) + # We need to pass the lambda a weak reference to + # self to avoid circular reference. + weak_self = weakref.ref(self) + self.sensor.listen(lambda event: CollisionSensor._on_collision(weak_self, event)) + + def get_collision_history(self): + """Gets the history of collisions""" + history = collections.defaultdict(int) + for frame, intensity in self.history: + history[frame] += intensity + return history + + @staticmethod + def _on_collision(weak_self, event): + """On collision method""" + self = weak_self() + if not self: + return + actor_type = get_actor_display_name(event.other_actor) + self.hud.notification('Collision with %r' % actor_type) + impulse = event.normal_impulse + intensity = math.sqrt(impulse.x ** 2 + impulse.y ** 2 + impulse.z ** 2) + self.history.append((event.frame, intensity)) + if len(self.history) > 4000: + self.history.pop(0) + +# ============================================================================== +# -- LaneInvasionSensor -------------------------------------------------------- +# ============================================================================== + + +class LaneInvasionSensor(object): + """Class for lane invasion sensors""" + + def __init__(self, parent_actor, hud): + """Constructor method""" + self.sensor = None + self._parent = parent_actor + self.hud = hud + world = self._parent.get_world() + bp = world.get_blueprint_library().find('sensor.other.lane_invasion') + self.sensor = world.spawn_actor(bp, carla.Transform(), attach_to=self._parent) + # We need to pass the lambda a weak reference to self to avoid circular + # reference. + weak_self = weakref.ref(self) + self.sensor.listen(lambda event: LaneInvasionSensor._on_invasion(weak_self, event)) + + @staticmethod + def _on_invasion(weak_self, event): + """On invasion method""" + self = weak_self() + if not self: + return + lane_types = set(x.type for x in event.crossed_lane_markings) + text = ['%r' % str(x).split()[-1] for x in lane_types] + self.hud.notification('Crossed line %s' % ' and '.join(text)) + +# ============================================================================== +# -- GnssSensor -------------------------------------------------------- +# ============================================================================== + + +class GnssSensor(object): + """ Class for GNSS sensors""" + + def __init__(self, parent_actor): + """Constructor method""" + self.sensor = None + self._parent = parent_actor + self.lat = 0.0 + self.lon = 0.0 + world = self._parent.get_world() + blueprint = world.get_blueprint_library().find('sensor.other.gnss') + self.sensor = world.spawn_actor(blueprint, carla.Transform(carla.Location(x=1.0, z=2.8)), + attach_to=self._parent) + # We need to pass the lambda a weak reference to + # self to avoid circular reference. + weak_self = weakref.ref(self) + self.sensor.listen(lambda event: GnssSensor._on_gnss_event(weak_self, event)) + + @staticmethod + def _on_gnss_event(weak_self, event): + """GNSS method""" + self = weak_self() + if not self: + return + self.lat = event.latitude + self.lon = event.longitude + +# ============================================================================== +# -- CameraManager ------------------------------------------------------------- +# ============================================================================== + + +class CameraManager(object): + """ Class for camera management""" + + def __init__(self, parent_actor, hud, gamma_correction): + """Constructor method""" + self.sensor = None + self.surface = None + self._parent = parent_actor + self.hud = hud + self.recording = False + bound_y = 0.5 + self._parent.bounding_box.extent.y + attachment = carla.AttachmentType + self._camera_transforms = [ + (carla.Transform( + carla.Location(x=-5.5, z=2.5), carla.Rotation(pitch=8.0)), attachment.SpringArm), + (carla.Transform( + carla.Location(x=1.6, z=1.7)), attachment.Rigid), + (carla.Transform( + carla.Location(x=5.5, y=1.5, z=1.5)), attachment.SpringArm), + (carla.Transform( + carla.Location(x=-8.0, z=6.0), carla.Rotation(pitch=6.0)), attachment.SpringArm), + (carla.Transform( + carla.Location(x=-1, y=-bound_y, z=0.5)), attachment.Rigid)] + self.transform_index = 1 + self.sensors = [ + ['sensor.camera.rgb', cc.Raw, 'Camera RGB'], + ['sensor.camera.depth', cc.Raw, 'Camera Depth (Raw)'], + ['sensor.camera.depth', cc.Depth, 'Camera Depth (Gray Scale)'], + ['sensor.camera.depth', cc.LogarithmicDepth, 'Camera Depth (Logarithmic Gray Scale)'], + ['sensor.camera.semantic_segmentation', cc.Raw, 'Camera Semantic Segmentation (Raw)'], + ['sensor.camera.semantic_segmentation', cc.CityScapesPalette, + 'Camera Semantic Segmentation (CityScapes Palette)'], + ['sensor.lidar.ray_cast', None, 'Lidar (Ray-Cast)']] + world = self._parent.get_world() + bp_library = world.get_blueprint_library() + for item in self.sensors: + blp = bp_library.find(item[0]) + if item[0].startswith('sensor.camera'): + blp.set_attribute('image_size_x', str(hud.dim[0])) + blp.set_attribute('image_size_y', str(hud.dim[1])) + if blp.has_attribute('gamma'): + blp.set_attribute('gamma', str(gamma_correction)) + elif item[0].startswith('sensor.lidar'): + blp.set_attribute('range', '50') + item.append(blp) + self.index = None + + def toggle_camera(self): + """Activate a camera""" + self.transform_index = (self.transform_index + 1) % len(self._camera_transforms) + self.set_sensor(self.index, notify=False, force_respawn=True) + + def set_sensor(self, index, notify=True, force_respawn=False): + """Set a sensor""" + index = index % len(self.sensors) + needs_respawn = True if self.index is None else ( + force_respawn or (self.sensors[index][0] != self.sensors[self.index][0])) + if needs_respawn: + if self.sensor is not None: + self.sensor.destroy() + self.surface = None + self.sensor = self._parent.get_world().spawn_actor( + self.sensors[index][-1], + self._camera_transforms[self.transform_index][0], + attach_to=self._parent, + attachment_type=self._camera_transforms[self.transform_index][1]) + + # We need to pass the lambda a weak reference to + # self to avoid circular reference. + weak_self = weakref.ref(self) + self.sensor.listen(lambda image: CameraManager._parse_image(weak_self, image)) + if notify: + self.hud.notification(self.sensors[index][2]) + self.index = index + + def next_sensor(self): + """Get the next sensor""" + self.set_sensor(self.index + 1) + + def toggle_recording(self): + """Toggle recording on or off""" + self.recording = not self.recording + self.hud.notification('Recording %s' % ('On' if self.recording else 'Off')) + + def render(self, display): + """Render method""" + if self.surface is not None: + display.blit(self.surface, (0, 0)) + + @staticmethod + def _parse_image(weak_self, image): + self = weak_self() + if not self: + return + if self.sensors[self.index][0].startswith('sensor.lidar'): + points = np.frombuffer(image.raw_data, dtype=np.dtype('f4')) + points = np.reshape(points, (int(points.shape[0] / 4), 4)) + lidar_data = np.array(points[:, :2]) + lidar_data *= min(self.hud.dim) / 100.0 + lidar_data += (0.5 * self.hud.dim[0], 0.5 * self.hud.dim[1]) + lidar_data = np.fabs(lidar_data) # pylint: disable=assignment-from-no-return + lidar_data = lidar_data.astype(np.int32) + lidar_data = np.reshape(lidar_data, (-1, 2)) + lidar_img_size = (self.hud.dim[0], self.hud.dim[1], 3) + lidar_img = np.zeros(lidar_img_size) + lidar_img[tuple(lidar_data.T)] = (255, 255, 255) + self.surface = pygame.surfarray.make_surface(lidar_img) + else: + image.convert(self.sensors[self.index][1]) + array = np.frombuffer(image.raw_data, dtype=np.dtype("uint8")) + array = np.reshape(array, (image.height, image.width, 4)) + array = array[:, :, :3] + array = array[:, :, ::-1] + self.surface = pygame.surfarray.make_surface(array.swapaxes(0, 1)) + if self.recording: + image.save_to_disk('_out/%08d' % image.frame) + +# ============================================================================== +# -- Game Loop --------------------------------------------------------- +# ============================================================================== + + +def game_loop(args): + """ Main loop for agent""" + + pygame.init() + pygame.font.init() + world = None + tot_target_reached = 0 + num_min_waypoints = 21 + + try: + client = carla.Client(args.host, args.port) + client.set_timeout(4.0) + + display = pygame.display.set_mode( + (args.width, args.height), + pygame.HWSURFACE | pygame.DOUBLEBUF) + + hud = HUD(args.width, args.height) + world = World(client.get_world(), hud, args) + controller = KeyboardControl(world) + + if args.agent == "Roaming": + agent = RoamingAgent(world.player) + elif args.agent == "Basic": + agent = BasicAgent(world.player) + spawn_point = world.map.get_spawn_points()[0] + agent.set_destination((spawn_point.location.x, + spawn_point.location.y, + spawn_point.location.z)) + else: + agent = BehaviorAgent(world.player, behavior=args.behavior) + + spawn_points = world.map.get_spawn_points() + random.shuffle(spawn_points) + + if spawn_points[0].location != agent.vehicle.get_location(): + destination = spawn_points[0].location + else: + destination = spawn_points[1].location + + agent.set_destination(agent.vehicle.get_location(), destination, clean=True) + + clock = pygame.time.Clock() + + while True: + clock.tick_busy_loop(60) + if controller.parse_events(): + return + + # As soon as the server is ready continue! + if not world.world.wait_for_tick(10.0): + continue + + if args.agent == "Roaming" or args.agent == "Basic": + if controller.parse_events(): + return + + # as soon as the server is ready continue! + world.world.wait_for_tick(10.0) + + world.tick(clock) + world.render(display) + pygame.display.flip() + control = agent.run_step() + control.manual_gear_shift = False + world.player.apply_control(control) + else: + agent.update_information() + + world.tick(clock) + world.render(display) + pygame.display.flip() + + # Set new destination when target has been reached + if len(agent.get_local_planner().waypoints_queue) < num_min_waypoints and args.loop: + agent.reroute(spawn_points) + tot_target_reached += 1 + world.hud.notification("The target has been reached " + + str(tot_target_reached) + " times.", seconds=4.0) + + elif len(agent.get_local_planner().waypoints_queue) == 0 and not args.loop: + print("Target reached, mission accomplished...") + break + + speed_limit = world.player.get_speed_limit() + agent.get_local_planner().set_speed(speed_limit) + + control = agent.run_step() + world.player.apply_control(control) + + finally: + if world is not None: + world.destroy() + + pygame.quit() + + +# ============================================================================== +# -- main() -------------------------------------------------------------- +# ============================================================================== + + +def main(): + """Main method""" + + argparser = argparse.ArgumentParser( + description='CARLA Automatic Control Client') + argparser.add_argument( + '-v', '--verbose', + action='store_true', + dest='debug', + help='Print debug information') + argparser.add_argument( + '--host', + metavar='H', + default='127.0.0.1', + help='IP of the host server (default: 127.0.0.1)') + argparser.add_argument( + '-p', '--port', + metavar='P', + default=2000, + type=int, + help='TCP port to listen to (default: 2000)') + argparser.add_argument( + '--res', + metavar='WIDTHxHEIGHT', + default='1280x720', + help='Window resolution (default: 1280x720)') + argparser.add_argument( + '--filter', + metavar='PATTERN', + default='vehicle.*', + help='Actor filter (default: "vehicle.*")') + argparser.add_argument( + '--gamma', + default=2.2, + type=float, + help='Gamma correction of the camera (default: 2.2)') + argparser.add_argument( + '-l', '--loop', + action='store_true', + dest='loop', + help='Sets a new random destination upon reaching the previous one (default: False)') + argparser.add_argument( + '-b', '--behavior', type=str, + choices=["cautious", "normal", "aggressive"], + help='Choose one of the possible agent behaviors (default: normal) ', + default='normal') + argparser.add_argument("-a", "--agent", type=str, + choices=["Behavior", "Roaming", "Basic"], + help="select which agent to run", + default="Behavior") + argparser.add_argument( + '-s', '--seed', + help='Set seed for repeating executions (default: None)', + default=None, + type=int) + + args = argparser.parse_args() + + args.width, args.height = [int(x) for x in args.res.split('x')] + + log_level = logging.DEBUG if args.debug else logging.INFO + logging.basicConfig(format='%(levelname)s: %(message)s', level=log_level) + + logging.info('listening to server %s:%s', args.host, args.port) + + print(__doc__) + + try: + game_loop(args) + + except KeyboardInterrupt: + print('\nCancelled by user. Bye!') + + +if __name__ == '__main__': + main() From cbe47d30544f087b88f1721cb638722c67689bc1 Mon Sep 17 00:00:00 2001 From: y5y5y5yei Date: Sat, 2 May 2026 12:15:27 +0800 Subject: [PATCH 2/5] =?UTF-8?q?=E4=BF=AE=E6=94=B9=E6=96=87=E4=BB=B6?= =?UTF-8?q?=E5=90=8D=E9=A6=96=E5=AD=97=E6=AF=8D?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- src/carla_traffic_light/code/Requirements.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/carla_traffic_light/code/Requirements.txt b/src/carla_traffic_light/code/Requirements.txt index f48808c3f8..57c1429743 100644 --- a/src/carla_traffic_light/code/Requirements.txt +++ b/src/carla_traffic_light/code/Requirements.txt @@ -1,4 +1,4 @@ -Requirements file: +requirements file: carla==0.9.11 From ff683b9704a20278d35620694ea8af7f3d4ae993 Mon Sep 17 00:00:00 2001 From: y5y5y5yei Date: Sat, 2 May 2026 12:22:31 +0800 Subject: [PATCH 3/5] =?UTF-8?q?=E4=BF=AE=E6=94=B9=E6=96=87=E4=BB=B6?= =?UTF-8?q?=E5=90=8D=E9=A6=96=E5=AD=97=E6=AF=8D?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../{code/Requirements.txt => requirements.txt} | 0 1 file changed, 0 insertions(+), 0 deletions(-) rename src/carla_traffic_light/{code/Requirements.txt => requirements.txt} (100%) diff --git a/src/carla_traffic_light/code/Requirements.txt b/src/carla_traffic_light/requirements.txt similarity index 100% rename from src/carla_traffic_light/code/Requirements.txt rename to src/carla_traffic_light/requirements.txt From 38399622bf63f4655af9917d30f11af088a3b4e0 Mon Sep 17 00:00:00 2001 From: y5y5y5yei Date: Tue, 5 May 2026 14:46:39 +0800 Subject: [PATCH 4/5] =?UTF-8?q?=E6=88=90=E5=8A=9F=E8=BF=90=E8=A1=8C?= =?UTF-8?q?=E5=A4=8D=E7=8E=B0=E7=BA=A2=E7=BB=BF=E7=81=AF=E6=A3=80=E6=B5=8B?= =?UTF-8?q?=E5=8A=9F=E8=83=BD?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../code/automatic_control.py | 29 ++++++++++--------- src/carla_traffic_light/requirements.txt | 8 ++--- 2 files changed, 18 insertions(+), 19 deletions(-) diff --git a/src/carla_traffic_light/code/automatic_control.py b/src/carla_traffic_light/code/automatic_control.py index 3bce2effc4..7ee3aa37e3 100644 --- a/src/carla_traffic_light/code/automatic_control.py +++ b/src/carla_traffic_light/code/automatic_control.py @@ -7,7 +7,7 @@ # For a copy, see . """Example of automatic vehicle control from client side.""" - +# -*- coding: utf-8 -*- from __future__ import print_function import argparse @@ -701,12 +701,12 @@ def game_loop(args): spawn_points = world.map.get_spawn_points() random.shuffle(spawn_points) - if spawn_points[0].location != agent.vehicle.get_location(): + if spawn_points[0].location != world.player.get_location(): destination = spawn_points[0].location else: destination = spawn_points[1].location - agent.set_destination(agent.vehicle.get_location(), destination, clean=True) + agent.set_destination(world.player.get_location(), destination) clock = pygame.time.Clock() @@ -733,27 +733,28 @@ def game_loop(args): control.manual_gear_shift = False world.player.apply_control(control) else: - agent.update_information() + #agent.update_information() world.tick(clock) world.render(display) pygame.display.flip() # Set new destination when target has been reached - if len(agent.get_local_planner().waypoints_queue) < num_min_waypoints and args.loop: - agent.reroute(spawn_points) - tot_target_reached += 1 - world.hud.notification("The target has been reached " + - str(tot_target_reached) + " times.", seconds=4.0) - - elif len(agent.get_local_planner().waypoints_queue) == 0 and not args.loop: - print("Target reached, mission accomplished...") - break + #if len(agent.get_local_planner().waypoints_queue) < num_min_waypoints and args.loop: + # agent.reroute(spawn_points) + # tot_target_reached += 1 + # world.hud.notification("The target has been reached " + + # str(tot_target_reached) + " times.", seconds=4.0) + + #elif len(agent.get_local_planner().waypoints_queue) == 0 and not args.loop: + # print("Target reached, mission accomplished...") + # break speed_limit = world.player.get_speed_limit() agent.get_local_planner().set_speed(speed_limit) control = agent.run_step() + print(f"Throttle: {control.throttle}, Steer: {control.steer}, Brake: {control.brake}") # 添加这行 world.player.apply_control(control) finally: @@ -843,4 +844,4 @@ def main(): if __name__ == '__main__': - main() + main() \ No newline at end of file diff --git a/src/carla_traffic_light/requirements.txt b/src/carla_traffic_light/requirements.txt index 57c1429743..ba632b7ae3 100644 --- a/src/carla_traffic_light/requirements.txt +++ b/src/carla_traffic_light/requirements.txt @@ -1,11 +1,9 @@ requirements file: -carla==0.9.11 +carla==0.9.15 pygame==2.1.0 -numpy==1.23.5 +numpy==1.21.6 opencv-python==4.8.0.76 -matplotlib==3.7.1 -torch==2.0.0 # Only if you're using PyTorch for detection -torchvision==0.15.1 +matplotlib==3.5.3 Pillow==9.4.0 From f66dd771a31c79768303f39852a50bc0c6fec91e Mon Sep 17 00:00:00 2001 From: y5y5y5yei Date: Tue, 5 May 2026 15:01:17 +0800 Subject: [PATCH 5/5] =?UTF-8?q?=E4=BF=AE=E6=94=B9readme=E4=B8=ADcarla?= =?UTF-8?q?=E7=89=88=E6=9C=AC?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- src/carla_traffic_light/README.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/carla_traffic_light/README.md b/src/carla_traffic_light/README.md index 76adf016de..7bcc1939fa 100644 --- a/src/carla_traffic_light/README.md +++ b/src/carla_traffic_light/README.md @@ -1,5 +1,5 @@ -# CARLA 0.9.11 中的交通灯检测与自主控制 -本项目使用 CARLA 仿真器（0.9.11 版本）实现了一套简易自主控制系统。系统利用摄像头数据检测**交通灯**，并控制车辆**红灯停车**、**绿灯通行**。 +# CARLA 0.9.15 中的交通灯检测与自主控制 +本项目使用 CARLA 仿真器（0.9.15 版本）实现了一套简易自主控制系统。系统利用摄像头数据检测**交通灯**，并控制车辆**红灯停车**、**绿灯通行**。 ## 功能特点： - 利用 RGB 摄像头与边界框进行**交通灯检测**。