仿真测试入门参考(21):CARLA的道路环境

1.import carla  2.import os  3.import time  4.  5.# 设置道路环境加载方式  6.LOAD_MODE = "map" #map or xodr  7.  8.def main():  9.    # 创建client，并获取world  10.    client = carla.Client("localhost", 2000)  11.  12.    # 加载地图  13.    if LOAD_MODE == "map":  14.        # 加载Town10HD_Opt  15.        maps = client.get_available_maps()  16.        print(f"maps = {maps}")  17.        world = client.load_world("Town10HD_Opt")  18.        time.sleep(3)  19.        world.unload_map_layer(carla.MapLayer.All)  20.        time.sleep(1)  21.        world.load_map_layer(carla.MapLayer.Ground)  22.        time.sleep(1)  23.        world.load_map_layer(carla.MapLayer.Buildings)  24.    elif LOAD_MODE == "xodr":  25.        # 加载OpenDRIVE  26.        xodr_path_base = "/home/sun/adsim_sun/carla_api_example/OpenDrive"  27.        xodr_name = "Town10HD_Opt"  28.        xodr_path = os.path.join(xodr_path_base, f"{xodr_name}.xodr")  29.        with open(xodr_path, encoding='utf-8') as od_file:  30.            data = od_file.read()  31.            print(f"load opendrive map {xodr_path}")  32.  33.        vertex_distance = 2.0  # in meters  34.        max_road_length = 500.0 # in meters  35.        wall_height = 1.0      # in meters  36.        extra_width = 0.6      # in meters  37.        world = client.generate_opendrive_world(  38.            data, carla.OpendriveGenerationParameters(  39.                vertex_distance=vertex_distance,  40.                max_road_length=max_road_length,  41.                wall_height=wall_height,  42.                additional_width=extra_width,  43.                smooth_junctions=True,  44.                enable_mesh_visibility=True))  45.  46.if __name__ == "__main__":  47.    main() 

1.import carla  2.import random  3.  4.def main():  5.    # 创建client，并获取world  6.    client = carla.Client("localhost", 2000)  7.    world = client.get_world()  8.  9.    # 获取map信息  10.    map = world.get_map()  11.  12.    # 设置ego的车型  13.    ego_bp = world.get_blueprint_library().find('vehicle.tesla.model3')  14.    ego_bp.set_attribute('role_name','ego')  15.  16.    # 随机选择预定义的生成点为ego生成位置  17.    spawn_points = world.get_map().get_spawn_points()  18.    spawn_point = random.choice(spawn_points)  19.      20.    # 生成ego车并设置自动驾驶  21.    ego_vehicle = world.try_spawn_actor(ego_bp, spawn_point)  22.    ego_vehicle.set_autopilot(True)  23.      24.    snap = world.wait_for_tick()  25.    init_frame = snap.frame  26.    run_frame = 0  27.    print(f"spawn ego vehicle at: {spawn_point}")  28.  29.    # 采用默认的异步变步长模式  30.    while run_frame < 10000:  31.        snap = world.wait_for_tick()  32.        run_frame = snap.frame - init_frame  33.        print(f"----- run_frame = {run_frame} -----")  34.  35.        # 设置spectator跟随ego车  36.        spectator = world.get_spectator()  37.        ego_tf = ego_vehicle.get_transform()  38.        spectator_tf = carla.Transform(ego_tf.location, ego_tf.rotation)  39.        spectator_tf.location += ego_tf.get_forward_vector() * (-10)  40.        spectator_tf.location += ego_tf.get_up_vector() * 3  41.        spectator.set_transform(spectator_tf)  42.          43.        # 获取车辆位置  44.        transform = ego_vehicle.get_transform()  45.        waypoint = map.get_waypoint(transform.location)  46.        print(f"-- current waypoint = {waypoint}")  47.  48.        #获取当前位置的车道信息  49.        road_id = waypoint.road_id  50.        section_id = waypoint.section_id  51.        lane_id = waypoint.lane_id  52.        lane_type = waypoint.lane_type  53.        s = waypoint.s  54.        print(f" -road_id = {road_id}, section_id = {section_id}, lane_id = {lane_id}, lane_type = {lane_type}, s = {s}")  55.  56.        right_marking = waypoint.right_lane_marking  57.        print(f" -right marking color = {right_marking.color}, type = {right_marking.type}, width = {right_marking.width}")  58.59.        #获取当前位置附近的红绿灯  60.        landmarks = waypoint.get_landmarks(50)  61.        for landmark in landmarks:  62.            tf = landmark.transform  63.            distance = landmark.distance  64.            name = landmark.name  65.            type = landmark.type  66.            print(f" -landmark tf = {tf}, distance = {distance}, name = {name}, type = {type}")  67.    68.        #获取附近路径点  69.        next_wp = waypoint.next(10) #获取前进方向10米处的路径点列表，分叉处可能有多个点  70.        previous_wp = waypoint.previous(5) #获取后退方向5米的路径点列表，合流处可能有多个点  71.        left_wp = waypoint.get_left_lane() #获取左侧车道的路径点  72.        right_wp = waypoint.get_right_lane() #获取右侧车道的路径点  73.        print(f" -next_wp = {next_wp[0]}")  74.        print(f" -previous_wp = {previous_wp[0]}")  75.        print(f" -left_wp = {left_wp}")  76.        print(f" -right_wp = {right_wp}")  77.  78.    # 销毁车辆  79.    is_destroyed = ego_vehicle.destroy()  80.    if is_destroyed:  81.        print(f"ego_vehicle has been destroyed sucessfully")  82.  83.if __name__ == "__main__":  84.    main()