如何在carla中设置1个NPC车辆,打印这辆车的车型和车牌号,并规划这1个NPC车辆的路径以及设置这14个NPC车辆的速度和加速度
时间: 2024-03-18 13:40:23 浏览: 19
要在Carla中设置一个NPC车辆并打印车型和车牌号,可以使用以下Python代码:
```python
import carla
# 连接到Carla服务器
client = carla.Client('localhost', 2000)
client.set_timeout(2.0)
# 获取Carla世界
world = client.get_world()
# 获取可用的蓝图
blueprint_library = world.get_blueprint_library()
vehicle_bp = blueprint_library.filter('vehicle.*')[0]
# 在世界中生成一个NPC车辆
spawn_point = carla.Transform(carla.Location(x=10, y=10, z=2), carla.Rotation(yaw=180))
vehicle = world.spawn_actor(vehicle_bp, spawn_point)
# 打印车辆的车型和车牌号
print('Vehicle Model:', vehicle.type_id)
print('License Plate:', vehicle.attributes['role_name'])
# 关闭车辆自动驾驶
vehicle.set_autopilot(False)
# 设置车辆速度和加速度
vehicle.apply_control(carla.VehicleControl(throttle=1.0, brake=0.0, steer=0.0))
vehicle.set_target_velocity(carla.Vector3D(x=20, y=0, z=0))
vehicle.set_max_acceleration(5.0)
# 规划车辆路径
waypoints = world.get_map().get_waypoint(vehicle.get_location())
next_waypoint = waypoints.next(10.0)[0].transform
vehicle.set_transform(next_waypoint)
```
要设置14个NPC车辆的速度和加速度,可以使用类似的代码,但需要将生成车辆的代码放入一个循环中,并使用不同的生成点和车辆蓝图。例如:
```python
import random
# 生成14个NPC车辆
for i in range(14):
spawn_point = carla.Transform(carla.Location(x=random.uniform(-50, 50), y=random.uniform(-50, 50), z=2), carla.Rotation(yaw=0))
vehicle = world.spawn_actor(vehicle_bp, spawn_point)
# 打印车辆的车型和车牌号
print('Vehicle', i+1, 'Model:', vehicle.type_id)
print('License Plate:', vehicle.attributes['role_name'])
# 关闭车辆自动驾驶
vehicle.set_autopilot(False)
# 设置车辆速度和加速度
vehicle.apply_control(carla.VehicleControl(throttle=1.0, brake=0.0, steer=0.0))
vehicle.set_target_velocity(carla.Vector3D(x=random.uniform(10, 20), y=0, z=0))
vehicle.set_max_acceleration(random.uniform(3.0, 5.0))
# 规划车辆路径
waypoints = world.get_map().get_waypoint(vehicle.get_location())
next_waypoint = waypoints.next(10.0)[0].transform
vehicle.set_transform(next_waypoint)
```