carla如何实时获取非玩家车辆的速度和它与玩家的距离
时间: 2024-03-17 22:43:10 浏览: 13
要在CARLA中实时获取非玩家车辆的速度和它与玩家的距离,您可以使用CARLA的Python API和一些数学计算来完成。以下是一个示例代码,可以帮助您完成这项任务:
``` python
import carla
import math
# Connect to the CARLA simulator
client = carla.Client('localhost', 2000)
client.set_timeout(10.0)
world = client.get_world()
# Get the player vehicle
player_vehicle = world.get_actors().find('vehicle.player')
# Loop to get the speed and distance data
while True:
# Get the player vehicle's speed and location
player_speed = player_vehicle.get_velocity().x
player_location = player_vehicle.get_location()
# Loop through each NPC vehicle
for actor in world.get_actors().filter('vehicle.*'):
if actor.id != player_vehicle.id: # Exclude the player vehicle
# Get the NPC vehicle's speed and location
npc_speed = actor.get_velocity().x
npc_location = actor.get_location()
# Calculate the distance between the player and NPC vehicle
distance = math.sqrt((npc_location.x - player_location.x)**2 + (npc_location.y - player_location.y)**2)
# Print the data to the console
print('NPC vehicle speed:', npc_speed)
print('Distance to player vehicle:', distance)
# Wait for a short time before getting the next data point
world.wait_for_tick()
# Clean up the actors
for actor in world.get_actors().filter('vehicle.*'):
actor.destroy()
```
该代码通过使用CARLA的Python API,获取非玩家车辆的速度和位置信息,并使用数学计算来计算每个NPC车辆与玩家车辆之间的距离。然后,它将速度和距离信息打印到控制台中。请注意,该代码是一个无限循环,每次循环需要等待一小段时间,以便获取下一个数据点。最后,您需要使用CARLA的Python API清理场景中的所有角色。