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src/carla_driving_car_lane/Add_weather_switching.py

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+#!/usr/bin/env python
+
+# Copyright (c) 2018 Intel Labs.
+# authors: German Ros (german.ros@gmail.com)
+#
+# This work is licensed under the terms of the MIT license.
+# For a copy, see <https://opensource.org/licenses/MIT>
+
+"""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
+
+# ==========================================
+#  适配你的路径 D:\carla0.9.15
+# ==========================================
+CARLA_ROOT = r"D:\carla0.9.15"
+PYTHON_API = os.path.join(CARLA_ROOT, "PythonAPI")
+sys.path.append(PYTHON_API)
+sys.path.append(os.path.join(PYTHON_API, "carla"))
+
+try:
+    eggs = glob.glob(os.path.join(PYTHON_API, "carla", "dist", "*.egg"))
+    for e in eggs:
+        sys.path.append(e)
+except:
+    pass
+
+# ================= 依赖导入 =================
+try:
+    import pygame
+    from pygame.locals import *
+except ImportError:
+    raise RuntimeError('请安装：pip install pygame')
+
+try:
+    import numpy as np
+except ImportError:
+    raise RuntimeError('请安装：pip install numpy')
+
+import carla
+from carla import ColorConverter as cc
+
+from agents.navigation.behavior_agent import BehaviorAgent
+
+# ==============================================================================
+# -- Global functions
+# ==============================================================================
+def 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):
+    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):
+    def __init__(self, carla_world, hud, args):
+        self.world = carla_world
+        self.map = self.world.get_map()
+        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 = 2.2
+        self.restart(args)
+        self.world.on_tick(hud.on_world_tick)
+
+    def restart(self, args):
+        cam_index = self.camera_manager.index if self.camera_manager else 0
+        cam_pos_id = self.camera_manager.transform_index if self.camera_manager else 0
+
+        blueprint = random.choice(self.world.get_blueprint_library().filter(self._actor_filter))
+        blueprint.set_attribute('role_name', 'hero')
+
+        if self.player is not None:
+            spawn_point = self.player.get_transform()
+            spawn_point.location.z += 2.0
+            self.destroy()
+            self.player = self.world.try_spawn_actor(blueprint, spawn_point)
+
+        while self.player is None:
+            spawn_point = random.choice(self.map.get_spawn_points())
+            self.player = self.world.try_spawn_actor(blueprint, spawn_point)
+
+        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)
+
+    def next_weather(self, reverse=False):
+        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.world.set_weather(preset[0])
+
+    def tick(self, clock):
+        self.hud.tick(clock)
+
+    def render(self, display):
+        self.camera_manager.render(display)
+        self.hud.render(display)
+
+    def destroy(self):
+        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 ESC or Ctrl+Q to quit", seconds=2)
+        world.hud.notification("PageUp / PageDown: Change Weather", seconds=2)
+
+    def parse_events(self, world):
+        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
+                if event.key == K_PAGEUP:
+                    world.next_weather(reverse=True)
+                if event.key == K_PAGEDOWN:
+                    world.next_weather()
+        return False
+
+    @staticmethod
+    def _is_quit_shortcut(key):
+        return key == K_ESCAPE or (key == K_q and pygame.key.get_mod() & KMOD_CTRL)
+
+# ==============================================================================
+# -- HUD
+# ==============================================================================
+class HUD(object):
+    def __init__(self, width, height):
+        self.dim = (width, height)
+        font = pygame.font.Font(pygame.font.get_default_font(), 16)
+        self._notifications = FadingText(font, (width, 40), (0, height - 40))
+        self.server_fps = 0
+        self.frame = 0
+        self.simulation_time = 0
+        self._show_info = True
+
+    def on_world_tick(self, timestamp):
+        self.server_fps = 1.0 / timestamp.delta_seconds
+        self.frame = timestamp.frame_count
+        self.simulation_time = timestamp.elapsed_seconds
+
+    def tick(self, clock):
+        self._notifications.tick(clock)
+
+    def notification(self, text, seconds=2):
+        self._notifications.set_text(text, seconds=seconds)
+
+    def error(self, text):
+        self._notifications.set_text('Error: %s' % text, (255, 0, 0))
+
+    def render(self, display):
+        self._notifications.render(display)
+
+# ==============================================================================
+# -- FadingText
+# ==============================================================================
+class FadingText(object):
+    def __init__(self, font, dim, pos):
+        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):
+        self.seconds_left = seconds
+        self.surface = self.font.render(text, True, color)
+
+    def tick(self, clock):
+        self.seconds_left = max(0.0, self.seconds_left - clock.get_time() / 1000.0)
+
+    def render(self, display):
+        display.blit(self.surface, self.pos)
+
+# ==============================================================================
+# -- CollisionSensor
+# ==============================================================================
+class CollisionSensor(object):
+    def __init__(self, parent_actor, hud):
+        self.sensor = None
+        self._parent = parent_actor
+        self.hud = hud
+        bp = parent_actor.get_world().get_blueprint_library().find('sensor.other.collision')
+        self.sensor = parent_actor.get_world().spawn_actor(bp, carla.Transform(), attach_to=parent_actor)
+        self.sensor.listen(lambda e: self.hud.notification(f"碰撞: {get_actor_display_name(e.other_actor)}"))
+
+# ==============================================================================
+# -- LaneInvasionSensor
+# ==============================================================================
+class LaneInvasionSensor(object):
+    def __init__(self, parent_actor, hud):
+        self.sensor = None
+        bp = parent_actor.get_world().get_blueprint_library().find('sensor.other.lane_invasion')
+        self.sensor = parent_actor.get_world().spawn_actor(bp, carla.Transform(), attach_to=parent_actor)
+
+# ==============================================================================
+# -- GnssSensor
+# ==============================================================================
+class GnssSensor(object):
+    def __init__(self, parent_actor):
+        self.sensor = None
+        self.lat = self.lon = 0.0
+        bp = parent_actor.get_world().get_blueprint_library().find('sensor.other.gnss')
+        self.sensor = parent_actor.get_world().spawn_actor(bp, carla.Transform(carla.Location(z=2.0)), attach_to=parent_actor)
+
+# ==============================================================================
+# -- CameraManager
+# ==============================================================================
+class CameraManager(object):
+    def __init__(self, parent_actor, hud, gamma):
+        self.sensor = None
+        self.surface = None
+        self._parent = parent_actor
+        self.hud = hud
+        self.transform_index = 0
+        self._camera_transforms = [
+            (carla.Transform(carla.Location(x=-5.5, z=2.5), carla.Rotation(pitch=8)), carla.AttachmentType.SpringArm)
+        ]
+        self.sensors = [['sensor.camera.rgb', cc.Raw, 'RGB']]
+        world = parent_actor.get_world()
+        for item in self.sensors:
+            b = world.get_blueprint_library().find(item[0])
+            b.set_attribute('image_size_x', str(hud.dim[0]))
+            b.set_attribute('image_size_y', str(hud.dim[1]))
+            item.append(b)
+        self.index = None
+
+    def set_sensor(self, index, notify=True):
+        if self.sensor:
+            self.sensor.destroy()
+        self.sensor = self._parent.get_world().spawn_actor(
+            self.sensors[0][-1],
+            self._camera_transforms[0][0],
+            attach_to=self._parent
+        )
+        self.sensor.listen(lambda img: self._parse_image(img))
+        self.index = 0
+
+    def _parse_image(self, image):
+        array = np.frombuffer(image.raw_data, dtype=np.uint8)
+        array = array.reshape(image.height, image.width, 4)[:, :, :3]
+        self.surface = pygame.surfarray.make_surface(array.swapaxes(0, 1)[:, :, ::-1])
+
+    def render(self, display):
+        if self.surface:
+            display.blit(self.surface, (0, 0))
+
+# ==============================================================================
+# -- Game Loop
+# ==============================================================================
+def game_loop(args):
+    pygame.init()
+    pygame.font.init()
+    world = None
+
+    try:
+        client = carla.Client(args.host, args.port)
+        client.set_timeout(10.0)
+        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)
+
+        agent = BehaviorAgent(world.player, behavior=args.behavior)
+        spawn_points = world.map.get_spawn_points()
+        agent.set_destination(random.choice(spawn_points).location)
+
+        clock = pygame.time.Clock()
+
+        while True:
+            clock.tick_busy_loop(60)
+            if controller.parse_events(world):
+                return
+
+            world.tick(clock)
+            world.render(display)
+            pygame.display.flip()
+
+            control = agent.run_step()
+            world.player.apply_control(control)
+
+    finally:
+        if world:
+            world.destroy()
+        pygame.quit()
+
+# ==============================================================================
+# -- main()
+# ==============================================================================
+def main():
+    argparser = argparse.ArgumentParser(description='CARLA Automatic Control Client')
+    argparser.add_argument('--host', default='127.0.0.1')
+    argparser.add_argument('--port', default=2000, type=int)
+    argparser.add_argument('--res', default='1280x720')
+    argparser.add_argument('--filter', default='vehicle.*')
+    argparser.add_argument('-b', '--behavior', default='normal')
+    args = argparser.parse_args()
+    args.width, args.height = map(int, args.res.split('x'))
+    game_loop(args)
+
+if __name__ == '__main__':
+    main()

src/carla_driving_car_lane/README.md

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+
+---
+
+## CARLA 0.9.15 交通灯检测与自动驾驶控制系统
+
+
+本项目基于 CARLA 仿真器（0.9.15 版本）实现了一套简易自动驾驶控制系统。系统通过摄像头数据检测交通信号灯，并控制车辆在红灯时停车、绿灯时通行。
+
+## 功能特性
+- **交通灯检测**：使用 RGB 摄像头与目标包围框实现交通灯识别
+- **启停逻辑**：车辆在红灯时自动停车，绿灯时自动恢复行驶
+- **自动驾驶控制**：根据交通灯状态自动调整油门与刹车
+
+## 使用技术
+- **仿真平台**：CARLA 仿真器 0.9.15
+- **编程语言**：Python 3.9
+- **依赖库**：
+  - pygame：用于渲染仿真界面
+  - cv2（OpenCV）：用于图像处理（可扩展功能）
+  - numpy、time、math、random：用于数值计算与时序控制
+
+## 工作原理
+1. **传感器配置**
+   车辆搭载前置 RGB 摄像头及其他 CARLA 内置传感器。
+
+2. **交通灯检测**
+   脚本通过 CARLA 内置环境信息（目标包围框）检测交通灯，
+   并判断信号灯状态（红灯/绿灯）。
+
+3. **控制逻辑**
+   - 若前方检测到红灯，车辆自动刹车并停车
+   - 若检测到绿灯或无有效红灯，车辆继续行驶
+
+## 运行方法
+1. 安装 Python 依赖库：
+   ```bash
+   pip install pygame opencv-python numpy
+   ```
+2. 使用方式：
+   启动 `CarlaUE4.exe`（Windows 系统）
+
+## 预期效果
+车辆在前方检测到红灯时平稳停车，绿灯亮起后恢复行驶，所有行为均由控制逻辑自动完成。
+
+---

src/carla_driving_car_lane/Requirements.txt

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+
+carla==0.9.15
+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