From 236442eb039490a9ba30d7b8d0436b815aa7d754 Mon Sep 17 00:00:00 2001 From: NagasakiSoyoprpr <3209832759@qq.com> Date: Fri, 12 Jun 2026 20:56:37 +0800 Subject: [PATCH 1/2] Create pedestrian_scenario_generator.py --- pedestrian_scenario_generator.py | 176 +++++++++++++++++++++++++++++++ 1 file changed, 176 insertions(+) create mode 100644 pedestrian_scenario_generator.py diff --git a/pedestrian_scenario_generator.py b/pedestrian_scenario_generator.py new file mode 100644 index 000000000..41ba1c727 --- /dev/null +++ b/pedestrian_scenario_generator.py @@ -0,0 +1,176 @@ +#!/usr/bin/env python3 +# -*- coding: utf-8 -*- +""" +行人测试场景生成器 +基于已有行人系统生成各种测试场景 +""" + +import carla +import random +import math +import time +import argparse + + +class PedestrianScenarioGenerator: + """行人测试场景生成器""" + + def __init__(self, host='localhost', port=2000): + self.client = carla.Client(host, port) + self.client.set_timeout(10.0) + self.world = self.client.get_world() + self.pedestrians = [] + print("[初始化] 行人测试场景生成器已启动") + + def load_walker_blueprints(self): + """加载行人蓝图""" + blueprint_library = self.world.get_blueprint_library() + return blueprint_library.filter('walker.pedestrian.*') + + def spawn_pedestrian(self, transform, behavior='random'): + """生成单个行人""" + walker_bps = self.load_walker_blueprints() + walker_bp = random.choice(walker_bps) + + walker = self.world.spawn_actor(walker_bp, transform) + + # 添加AI控制器 + controller_bp = self.world.get_blueprint_library().find('controller.ai.walker') + controller = self.world.spawn_actor(controller_bp, carla.Transform(), walker) + + self.pedestrians.append({'walker': walker, 'controller': controller}) + return walker, controller + + def generate_crossing_scenario(self, road_width=10, pedestrian_count=5): + """生成过马路测试场景""" + print(f"[场景] 生成过马路场景，道路宽度: {road_width}m，行人: {pedestrian_count}") + + # 在道路两侧生成行人 + for i in range(pedestrian_count): + # 随机位置 + x = random.uniform(-road_width/2, road_width/2) + y = random.choice([-5, 5]) # 道路两侧 + + transform = carla.Transform( + carla.Location(x=x, y=y, z=1.0) + ) + + walker, controller = self.spawn_pedestrian(transform) + + # 设置过马路目标 + target = carla.Location(x=x, y=-y, z=1.0) + controller.go_to_location(target) + controller.set_max_speed(1.4) + + print(f" 行人 #{i+1} 从 ({x:.1f}, {y:.1f}) 到 ({x:.1f}, {-y:.1f})") + + def generate_crowd_scenario(self, center, radius=20, count=20): + """生成人群测试场景""" + print(f"[场景] 生成人群场景，中心: {center}，半径: {radius}m，人数: {count}") + + for i in range(count): + angle = random.uniform(0, 2 * math.pi) + distance = random.uniform(0, radius) + + x = center.x + distance * math.cos(angle) + y = center.y + distance * math.sin(angle) + + transform = carla.Transform( + carla.Location(x=x, y=y, z=1.0) + ) + + walker, controller = self.spawn_pedestrian(transform) + + # 随机移动目标 + target_angle = random.uniform(0, 2 * math.pi) + target_dist = random.uniform(10, 30) + target = carla.Location( + x=center.x + target_dist * math.cos(target_angle), + y=center.y + target_dist * math.sin(target_angle), + z=1.0 + ) + + controller.go_to_location(target) + controller.set_max_speed(random.uniform(1.0, 2.0)) + + def generate_collision_risk_scenario(self, vehicle_path, pedestrian_count=3): + """生成碰撞风险测试场景""" + print(f"[场景] 生成碰撞风险场景，行人: {pedestrian_count}") + + # 在车辆路径上生成行人 + for i in range(pedestrian_count): + # 在路径附近随机位置 + t = random.uniform(0.2, 0.8) # 路径中间段 + x = vehicle_path[0].x + (vehicle_path[1].x - vehicle_path[0].x) * t + y = vehicle_path[0].y + (vehicle_path[1].y - vehicle_path[0].y) * t + + # 偏移到车道 + offset = random.uniform(-3, 3) + x += offset + + transform = carla.Transform( + carla.Location(x=x, y=y, z=1.0) + ) + + walker, controller = self.spawn_pedestrian(transform) + + # 让行人停留在原地或缓慢移动 + if random.choice([True, False]): + controller.set_max_speed(0.5) # 缓慢移动 + else: + controller.set_max_speed(0) # 静止 + + print(f" 风险行人 #{i+1} 位置: ({x:.1f}, {y:.1f})") + + def cleanup(self): + """清理所有行人""" + print(f"[清理] 移除 {len(self.pedestrians)} 个行人") + for p in self.pedestrians: + if p['controller'].is_alive: + p['controller'].stop() + p['controller'].destroy() + if p['walker'].is_alive: + p['walker'].destroy() + self.pedestrians.clear() + + +def main(): + parser = argparse.ArgumentParser(description='行人测试场景生成器') + parser.add_argument('--host', default='localhost', help='主机地址') + parser.add_argument('--port', type=int, default=2000, help='端口') + parser.add_argument('--scenario', default='crossing', + choices=['crossing', 'crowd', 'risk'], + help='场景类型') + parser.add_argument('--count', type=int, default=5, help='行人数量') + parser.add_argument('--duration', type=int, default=30, help='持续时间') + + args = parser.parse_args() + + generator = PedestrianScenarioGenerator(args.host, args.port) + + try: + if args.scenario == 'crossing': + generator.generate_crossing_scenario(pedestrian_count=args.count) + elif args.scenario == 'crowd': + generator.generate_crowd_scenario( + carla.Location(x=0, y=0, z=0), + count=args.count + ) + elif args.scenario == 'risk': + generator.generate_collision_risk_scenario( + [carla.Location(x=-50, y=0, z=0), carla.Location(x=50, y=0, z=0)], + pedestrian_count=args.count + ) + + print(f"\n[运行] 场景运行中，持续 {args.duration} 秒...") + time.sleep(args.duration) + + except KeyboardInterrupt: + print("\n[中断] 用户中断") + finally: + generator.cleanup() + print("[完成] 场景结束") + + +if __name__ == '__main__': + main() From faf76176eebf54d779994d8db5dc07f92212c857 Mon Sep 17 00:00:00 2001 From: NagasakiSoyoprpr <3209832759@qq.com> Date: Tue, 16 Jun 2026 00:53:46 +0800 Subject: [PATCH 2/2] Rename pedestrian_scenario_generator.py to PythonAPI/examples/pedestrian_scenario_generator.py --- .../examples/pedestrian_scenario_generator.py | 0 1 file changed, 0 insertions(+), 0 deletions(-) rename pedestrian_scenario_generator.py => PythonAPI/examples/pedestrian_scenario_generator.py (100%) diff --git a/pedestrian_scenario_generator.py b/PythonAPI/examples/pedestrian_scenario_generator.py similarity index 100% rename from pedestrian_scenario_generator.py rename to PythonAPI/examples/pedestrian_scenario_generator.py