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Spwan_Fahrzeuge_Wetterbedingungen _Nna.py aktualisiert

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Claude Valérie Nna 2025-02-25 18:12:17 +00:00
parent 94390675ed
commit 1c9b7cc6f5
1 changed files with 19 additions and 23 deletions
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Spwan_Fahrzeuge_Wetterbedingungen _Nna.py
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@ -128,7 +128,9 @@ def manage_uncontrolled_intersections():
#The Code try to adjusts the position of two colliding vehicles to separate them.
#if the adjustment fails, the vehicle that cannot free itself is removed from the
#wold
collision_status = {} # Statut de collision entre véhicules
@ -253,7 +255,7 @@ def ensure_correct_stop(vehicle):
#The code adjust the position of ambulance
@ -294,8 +296,7 @@ def get_clearance(vehicle, side, world):
# Attendre un instant pour capter les données
time.sleep(0.1)
# Suppression du capteur
# Suppression du capteur
sensor.destroy()
# Vérification et affichage du message
@ -320,7 +321,6 @@ def adjust_truck_steering(truck, world):
right_clearance = get_clearance(truck.vehicle, "right", world)
front_clearance = get_clearance(truck.vehicle, "front", world)
control = truck.vehicle.get_control()
# Ajuster la direction pour éviter les obstacles
@ -340,8 +340,6 @@ def adjust_truck_steering(truck, world):
control.brake = 0.5 # Appliquer le freinage
control.throttle = 0.0 # Réduire la vitesse à zéro pour éviter une collision
# fonction pour freiner
distance_ahead = get_clearance(truck.vehicle,"front",world)
@ -356,9 +354,6 @@ def adjust_truck_steering(truck, world):
# Appliquer le nouveau contrôle au camion
truck.vehicle.apply_control(control)
# Filtrer les camions dans la simulation
vehicles = world.get_actors().filter('vehicle.*')
@ -372,9 +367,11 @@ def adjust_truck_steering(truck, world):
# Pour suivre le temps d'arrêt des véhicules
#The code based of the speed and stop_time of vehicles
# check if vehicles has 0.0 m/s speed and
# stop_time ist more than 30 seconds
# that means the vehicle is blocked and
# will be removed
stuck_vehicles_time = {} # Stocke le temps d'arrêt des véhicules
def is_vehicle_blocked(vehicle, max_stop_time=30):
@ -421,20 +418,21 @@ def is_spawn_point_occupied(spawn_point, vehicles, max_density=2, remove_stuck_v
# get the vehicle blueprints and spwan point
vehicle_blueprints = world.get_blueprint_library().filter('vehicle*')
spawn_points = world.get_map().get_spawn_points()
# Spawn 30 vehicles randomly distributed throughout the map
# for each spawn point, we choose a random vehicle from the blueprint library
vehicles = []
for i in range(0,30):
vehicles.append(world.try_spawn_actor(random.choice(vehicle_blueprints), random.choice(spawn_points)))
#display the available vehicles
blueprint_library = world.get_blueprint_library()
print("Available vehicule models:", blueprint_library.filter('vehicle.*'))
#display the Number of spwan points
print("Number of spawn points:", len(spawn_points))
@ -457,16 +455,14 @@ if vehicle is not None:
else:
print(f"Failed to create vehicle after several attempts.")
#The vehicles start the control system
for vehicle in world.get_actors().filter('*vehicle*'):
if vehicle.attributes['role_name'] != 'ego':
vehicle.set_autopilot(True)
#How to set weather and display available carla.weather.parameters
world.set_weather(carla.WeatherParameters.HardRainNoon)
world.set_weather(carla.WeatherParameters.ClearNoon)
world.set_weather(carla.WeatherParameters.HardRainNight)