unit自动驾驶怎么使用_自动驾驶仿真工具之CARLA使用小结

 BIND_SYNC(set_actor_autopilot) << [this](

    
       cr::ActorId ActorId,
    
       bool bEnabled) -> R<void>
    
   {
    
     REQUIRE_CARLA_EPISODE();
    
     auto ActorView = Episode->FindActor(ActorId);
    
     if (!ActorView.IsValid())
    
     {
    
       RESPOND_ERROR("unable to set autopilot: actor not found");
    
     }
    
     auto Vehicle = Cast<ACarlaWheeledVehicle>(ActorView.GetActor());
    
     if (Vehicle == nullptr)
    
     {
    
       RESPOND_ERROR("unable to set autopilot: actor does not support autopilot");
    
     }
    
     auto Controller = Cast<AWheeledVehicleAIController>(Vehicle->GetController());
    
     if (Controller == nullptr)
    
     {
    
       RESPOND_ERROR("unable to set autopilot: vehicle controller does not support autopilot");
    
     }
    
     Controller->SetAutopilot(bEnabled);
    
     return R<void>::Success();
    
   };
    
    
    
    
    AI写代码

 void Client::SetActorAutopilot(rpc::ActorId vehicle, const bool enabled) {

    
     _pimpl->AsyncCall("set_actor_autopilot", vehicle, enabled);
    
   }
    
    
    
    
    AI写代码

 void SetVehicleAutopilot(Vehicle &vehicle, bool enabled = true) {

    
       _client.SetActorAutopilot(vehicle.GetId(), enabled);
    
     }
    
    
    
    
    AI写代码

 void Vehicle::SetAutopilot(bool enabled) {

    
     GetEpisode().Lock()->SetVehicleAutopilot(*this, enabled);
    
   }
    
    
    
    
    AI写代码

    .def("set_autopilot", &cc::Vehicle::SetAutopilot, (arg("enabled") = true))
    
    
    AI写代码

    world.player.set_autopilot(True)
    
    AI写代码

 [/Script/EngineSettings.GameMapsSettings]

    
 EditorStartupMap=/Game/Carla/Maps/Town04.Town04
    
 GameDefaultMap=/Game/Carla/Maps/Town04.Town04
    
 ServerDefaultMap=/Game/Carla/Maps/Town04.Town04
    
 GlobalDefaultGameMode=/Game/Carla/Blueprints/Game/CarlaGameMode.CarlaGameMode_C
    
 GameInstanceClass=/Script/Carla.CarlaGameInstance
    
 TransitionMap=/Game/Carla/Maps/Town04.Town04
    
 GlobalDefaultServerGameMode=/Game/Carla/Blueprints/Game/CarlaGameMode.CarlaGameMode_C
    
    
    
    
    AI写代码

 class BasicAgent(Agent):

    
     """
    
     BasicAgent implements a basic agent that navigates scenes to reach a given
    
     target destination. This agent respects traffic lights and other vehicles.
    
     """
    
  
    
     def __init__(self, vehicle, target_speed=120):
    
     """
    
     :param vehicle: actor to apply to local planner logic onto
    
     """
    
     super(BasicAgent, self).__init__(vehicle)
    
  
    
     self._proximity_threshold = 10.0  # meters
    
     self._state = AgentState.NAVIGATING
    
     args_lateral_dict = {
    
         'K_P': 1,
    
         'K_D': 0.02,
    
         'K_I': 0,
    
         'dt': 1.0/20.0}
    
     self._local_planner = LocalPlanner(
    
         self._vehicle, opt_dict={'target_speed' : target_speed,
    
         'lateral_control_dict':args_lateral_dict})
    
     self._hop_resolution = 2.0
    
     self._path_seperation_hop = 2
    
     self._path_seperation_threshold = 0.5
    
     self._target_speed = target_speed
    
     self._grp = None
    
    
    
    
    AI写代码

 client = carla.Client(args.host, args.port)

    
 if client.get_world() is not None:
    
     client.reload_world()
    
    
    
    
    AI写代码