如何在carla中设置4个NPC车辆，并将这4个NPC车辆的实时速度与玩家车辆之间的距离放在一个新的csv表里

要在CARLA中设置4个NPC车辆并将它们的实时速度和与玩家车辆之间的距离放在一个新的CSV表中，您可以执行以下步骤：

1. 在CARLA模拟器中打开一个新的场景，并将玩家车辆放置在其中。

2. 使用Python API创建4个NPC车辆并将它们放置在场景中。

3. 使用CARLA的Python API获取玩家车辆和4个NPC车辆的实时速度和位置信息。

4. 计算每个NPC车辆与玩家车辆之间的距离。

5. 将速度和距离信息存储在一个新的CSV文件中。

以下是示例代码，可以帮助您完成这项任务：

import carla
import csv

# Connect to the CARLA simulator
client = carla.Client('localhost', 2000)
client.set_timeout(10.0)
world = client.get_world()

# Create a blueprint of a vehicle
vehicle_bp = world.get_blueprint_library().find('vehicle.tesla.model3')

# Spawn the player vehicle
player_transform = carla.Transform(carla.Location(x=50, y=50, z=2), carla.Rotation(yaw=0))
player_vehicle = world.spawn_actor(vehicle_bp, player_transform)

# Spawn the NPC vehicles
npc_transforms = [
    carla.Transform(carla.Location(x=100, y=50, z=2), carla.Rotation(yaw=0)),
    carla.Transform(carla.Location(x=50, y=100, z=2), carla.Rotation(yaw=90)),
    carla.Transform(carla.Location(x=0, y=50, z=2), carla.Rotation(yaw=180)),
    carla.Transform(carla.Location(x=50, y=0, z=2), carla.Rotation(yaw=270)),
]
npc_vehicles = []
for transform in npc_transforms:
    npc_vehicle = world.spawn_actor(vehicle_bp, transform)
    npc_vehicles.append(npc_vehicle)

# Open a new CSV file
csv_file = open('speed_distance.csv', 'w', newline='')
csv_writer = csv.writer(csv_file)

# 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 i, npc_vehicle in enumerate(npc_vehicles):
        # Get the NPC vehicle's speed and location
        npc_speed = npc_vehicle.get_velocity().x
        npc_location = npc_vehicle.get_location()

        # Calculate the distance between the player and NPC vehicle
        distance = player_location.distance(npc_location)

        # Write the data to the CSV file
        csv_writer.writerow([i, npc_speed, distance, player_speed])

    # Wait for a short time before getting the next data point
    world.wait_for_tick()

# Close the CSV file and clean up the actors
csv_file.close()
for vehicle in npc_vehicles + [player_vehicle]:
    vehicle.destroy()

此代码可以在CARLA中设置4个NPC车辆，计算它们和玩家车之间的距离，并将数据写入新的CSV文件中。