From 479f6105455dfd73a9d8fda54adf2d77c1e1197f Mon Sep 17 00:00:00 2001 From: nie <123@.com> Date: Fri, 20 Mar 2026 16:31:04 +0800 Subject: [PATCH 1/8] =?UTF-8?q?=E5=AE=8C=E6=88=90=E9=80=89=E9=A2=98?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- src/self-driving-car-main/readme.md | 1 + 1 file changed, 1 insertion(+) create mode 100644 src/self-driving-car-main/readme.md diff --git a/src/self-driving-car-main/readme.md b/src/self-driving-car-main/readme.md new file mode 100644 index 000000000..f418d381c --- /dev/null +++ b/src/self-driving-car-main/readme.md @@ -0,0 +1 @@ +该代码库包含一个由人工智能（AI）和强化学习（RL）驱动的自动驾驶汽车模拟项目。该项目展示了强化学习算法如何使自动驾驶车辆能够在复杂环境中导航、做出决策，并在现实场景中优化性能。 \ No newline at end of file From b0a5e13220cb2899ac86200ea80c5166c6542924 Mon Sep 17 00:00:00 2001 From: nie <123@.com> Date: Fri, 20 Mar 2026 20:06:57 +0800 Subject: [PATCH 2/8] docs: migrate README to carla obstacle avoidance module - Remove old readme.md from self-driving-car-main - Add new README.md for carla-obstacle-avoidance --- src/carla-obstacle-avoidance/README.md | 1 + src/self-driving-car-main/readme.md | 1 - 2 files changed, 1 insertion(+), 1 deletion(-) create mode 100644 src/carla-obstacle-avoidance/README.md delete mode 100644 src/self-driving-car-main/readme.md diff --git a/src/carla-obstacle-avoidance/README.md b/src/carla-obstacle-avoidance/README.md new file mode 100644 index 000000000..4e5b9d340 --- /dev/null +++ b/src/carla-obstacle-avoidance/README.md @@ -0,0 +1 @@ +该代码库利用CARLA [1]仿真环境中特权强化学习（RL）智能体与视觉运动模仿学习（IL）智能体之间的知识蒸馏，训练基于视觉的静态避障智能体 \ No newline at end of file diff --git a/src/self-driving-car-main/readme.md b/src/self-driving-car-main/readme.md deleted file mode 100644 index f418d381c..000000000 --- a/src/self-driving-car-main/readme.md +++ /dev/null @@ -1 +0,0 @@ -该代码库包含一个由人工智能（AI）和强化学习（RL）驱动的自动驾驶汽车模拟项目。该项目展示了强化学习算法如何使自动驾驶车辆能够在复杂环境中导航、做出决策，并在现实场景中优化性能。 \ No newline at end of file From 0643e0d827b277fffdd88d37a42905c7d3f3609d Mon Sep 17 00:00:00 2001 From: nie <123@.com> Date: Fri, 20 Mar 2026 20:59:26 +0800 Subject: [PATCH 3/8] docs: migrate README to new structure for carla-obstacle-avoidance --- src/carla-obstacle-avoidance/README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/carla-obstacle-avoidance/README.md b/src/carla-obstacle-avoidance/README.md index 4e5b9d340..e28b509d3 100644 --- a/src/carla-obstacle-avoidance/README.md +++ b/src/carla-obstacle-avoidance/README.md @@ -1 +1 @@ -该代码库利用CARLA [1]仿真环境中特权强化学习（RL）智能体与视觉运动模仿学习（IL）智能体之间的知识蒸馏，训练基于视觉的静态避障智能体 \ No newline at end of file +该代码库利用CARLA [1]仿真环境中特权强化学习（RL）智能体与视觉运动模仿学习（IL）智能体之间的知识蒸馏，训练基于视觉的静态避障智能体。 \ No newline at end of file From 742ecedf7657c66ea6a5aea710500cc8e40face7 Mon Sep 17 00:00:00 2001 From: nie <123@.com> Date: Fri, 20 Mar 2026 22:36:03 +0800 Subject: [PATCH 4/8] refactor: rename carla-obstacle-avoidance to carla_obstacle_avoidance Rename directory to follow snake_case naming convention --- src/carla-obstacle-avoidance/README.md | 1 - src/carla_obstacle_avoidance/README.md | 1 + 2 files changed, 1 insertion(+), 1 deletion(-) delete mode 100644 src/carla-obstacle-avoidance/README.md create mode 100644 src/carla_obstacle_avoidance/README.md diff --git a/src/carla-obstacle-avoidance/README.md b/src/carla-obstacle-avoidance/README.md deleted file mode 100644 index e28b509d3..000000000 --- a/src/carla-obstacle-avoidance/README.md +++ /dev/null @@ -1 +0,0 @@ -该代码库利用CARLA [1]仿真环境中特权强化学习（RL）智能体与视觉运动模仿学习（IL）智能体之间的知识蒸馏，训练基于视觉的静态避障智能体。 \ No newline at end of file diff --git a/src/carla_obstacle_avoidance/README.md b/src/carla_obstacle_avoidance/README.md new file mode 100644 index 000000000..a76851e99 --- /dev/null +++ b/src/carla_obstacle_avoidance/README.md @@ -0,0 +1 @@ +该代码库面向自动驾驶静态避障任务，基于 CARLA 仿真环境构建训练框架，通过特权强化学习（RL）智能体向视觉运动模仿学习（IL）智能体进行知识蒸馏，最终实现仅依赖视觉输入的避障智能体训练。 \ No newline at end of file From 7b992db72a4351bbc6f6741f202dd6b486b554b8 Mon Sep 17 00:00:00 2001 From: nie <123@.com> Date: Fri, 17 Apr 2026 16:06:12 +0800 Subject: [PATCH 5/8] =?UTF-8?q?=E5=AF=B9readme=E8=BF=9B=E8=A1=8C=E6=9B=B4?= =?UTF-8?q?=E6=94=B9?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- src/carla-rl-project/README.md | 1 + 1 file changed, 1 insertion(+) create mode 100644 src/carla-rl-project/README.md diff --git a/src/carla-rl-project/README.md b/src/carla-rl-project/README.md new file mode 100644 index 000000000..035853ede --- /dev/null +++ b/src/carla-rl-project/README.md @@ -0,0 +1 @@ +本项目实现了一个基于强化学习的自动驾驶系统，采用 CARLA 模拟器环境训练智能代理完成自动驾驶任务。项目选用 PPO（Proximal Policy Optimization，近邻策略优化）算法，构建并完善了环境感知、决策规划与控制执行的全流程功能，确保智能代理能够高效、稳定地完成自动驾驶相关操作。 \ No newline at end of file From 7c246392c78bbec218e8aaa347f497542d1f4f9c Mon Sep 17 00:00:00 2001 From: nie <123@.com> Date: Fri, 17 Apr 2026 16:07:41 +0800 Subject: [PATCH 6/8] =?UTF-8?q?=E4=BF=AE=E6=94=B9=E9=A1=B9=E7=9B=AE?= =?UTF-8?q?=E6=8F=8F=E8=BF=B0=E8=B7=AF=E5=BE=84?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- src/carla_obstacle_avoidance/README.md | 1 - 1 file changed, 1 deletion(-) delete mode 100644 src/carla_obstacle_avoidance/README.md diff --git a/src/carla_obstacle_avoidance/README.md b/src/carla_obstacle_avoidance/README.md deleted file mode 100644 index a76851e99..000000000 --- a/src/carla_obstacle_avoidance/README.md +++ /dev/null @@ -1 +0,0 @@ -该代码库面向自动驾驶静态避障任务，基于 CARLA 仿真环境构建训练框架，通过特权强化学习（RL）智能体向视觉运动模仿学习（IL）智能体进行知识蒸馏，最终实现仅依赖视觉输入的避障智能体训练。 \ No newline at end of file From 239c63875b2d7019609aa2b20a9a841118675f83 Mon Sep 17 00:00:00 2001 From: nie <123@.com> Date: Fri, 17 Apr 2026 17:23:08 +0800 Subject: [PATCH 7/8] =?UTF-8?q?=E5=88=A0=E9=99=A4=E5=8E=9F=E9=80=89?= =?UTF-8?q?=E9=A2=98=E6=96=87=E4=BB=B6=E5=A4=B9?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- src/carla-rl-project/README.md | 1 - 1 file changed, 1 deletion(-) delete mode 100644 src/carla-rl-project/README.md diff --git a/src/carla-rl-project/README.md b/src/carla-rl-project/README.md deleted file mode 100644 index 035853ede..000000000 --- a/src/carla-rl-project/README.md +++ /dev/null @@ -1 +0,0 @@ -本项目实现了一个基于强化学习的自动驾驶系统，采用 CARLA 模拟器环境训练智能代理完成自动驾驶任务。项目选用 PPO（Proximal Policy Optimization，近邻策略优化）算法，构建并完善了环境感知、决策规划与控制执行的全流程功能，确保智能代理能够高效、稳定地完成自动驾驶相关操作。 \ No newline at end of file From 3abe8dc3b1c74b737836bab91919f93422deffe5 Mon Sep 17 00:00:00 2001 From: n123png <1481214292@qq.com> Date: Sat, 18 Apr 2026 14:18:30 +0800 Subject: [PATCH 8/8] =?UTF-8?q?=E5=AE=8C=E6=88=90=E9=80=89=E9=A2=98?= =?UTF-8?q?=E5=B9=B6=E6=B7=BB=E5=8A=A0README=E6=96=87=E4=BB=B6?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- src/carla_AutonomousVehicle_monitor/README | 23 ++++++++++++++++++++++ 1 file changed, 23 insertions(+) create mode 100644 src/carla_AutonomousVehicle_monitor/README diff --git a/src/carla_AutonomousVehicle_monitor/README b/src/carla_AutonomousVehicle_monitor/README new file mode 100644 index 000000000..28d013efd --- /dev/null +++ b/src/carla_AutonomousVehicle_monitor/README @@ -0,0 +1,23 @@ +基于CARLA模拟器的自动驾驶可视化监控项目 +本项目基于CARLA模拟器搭建，聚焦自动驾驶系统实时监控与可视化，整合多维度感知、状态及规划信息，构建全面直观的监控体系， +为算法调试、功能验证及场景复现提供支撑，提升自动驾驶安全性与可靠性。核心功能如下： + +核心功能模块 +1. 多视角摄像头实时采集与展示 +整合车辆前视、后视、左视、右视四大核心视角，实时采集并同步展示画面，还原真实行驶环境。 +采用低延迟渲染，清晰呈现道路及周边细节，支持画面缩放、暂停、回放，便于场景复盘与问题定位。 +2. 激光雷达BEV鸟瞰图可视化 +基于激光雷达点云数据，实时生成BEV鸟瞰环境模型，将三维点云转化为二维视图。 +通过颜色区分不同目标，清晰呈现车辆与周边的相对位置及距离，弥补摄像头盲区，支撑环境感知补全与行驶安全判断。 +3. 障碍物实时检测与精准标注 +结合深度学习算法，实时识别车辆、行人、骑车人三类核心障碍物，用边界框精准标注位置， +同步显示运动方向、速度等信息，通过颜色样式区分类型，危险距离时触发警示，及时捕捉安全风险。 +4. 车辆核心状态实时监控 +实时采集并可视化展示行驶速度（km/h）、转向角、油门开度、刹车力度等核心参数， +同步更新且以数值+进度条呈现，便于判断操控合理性，支持参数历史回溯，为算法优化提供数据支撑。 +5. 自动驾驶路径规划轨迹可视化 +实时渲染规划路径，用动态线条区分当前与历史轨迹，标注节点及行驶方向，按路径类型区分颜色， +同步显示预期速度等辅助信息，直观呈现决策逻辑，便于判断路径合理性并发现异常。 +6. 交通信号灯状态实时识别与展示 +通过图像识别实时捕捉交通信号灯，精准识别红、绿、黄三种状态， +在监控界面显著位置展示并标注剩余时长（若有），状态变化时及时更新并触发提示，确保系统准确响应，便于核查规则执行情况。 \ No newline at end of file