创建自定义评价规则

curl --location --request POST '/evaluates/customer_criteria' \
--header 'Authorization: bearer {{token}}' \
--header 'User-Agent: Mozilla/5.0 (X11; Linux x86_64) AppleWebKit/537.36 (KHTML, like Gecko) Chrome/117.0.0.0 Safari/537.36' \
--header 'Content-Type: application/json' \
--data-raw '{
    "name": "script_20240819_616",
    "name_en": "script_20240819_616",
    "desc": "test",
    "desc_en": "test",
    "script_content": "#!/usr/bin/env python\nimport operator\nimport numpy as np\n\n\n# ACC评估指标\n# 参考：GB/T 20608-2006 智能运输系统 自适应巡航控制系统 性能要求与检测方法\ndef ACC_Evaluation(\n    final_data: dict = {}, success_value: float = 60, comparison_operator=operator.ge\n) -> float:\n    \"\"\"\n\n    Args:\n        final_data: 场景运行整个过程 ego_vehicle 的所有数据，格式如下：\n            {\n            \"x\": [],    location 的 x 方向值\n            \"y\": [],    location 的 y 方向值\n            \"z\": [],    location 的 z 方向值\n            \"ttc\": [], 最小预期碰撞用时，自车与障碍物之间的距离除以相对速度得到TTC (Time to collision)，取最小值，如果不存在前车，则为 None\n            \"thw\": [], 最小车头时距，两车车距 /本车的车速得到 THW (Time headway)，取最小值，如果不存在前车，则为 None。\n            \"yaw\": [],                  偏航角度，单位弧度\n            \"roll\": [],                 滚转角度，单位弧度\n            \"pitch\": [],                俯仰角度，单位弧度\n            \"jerk\": [],                 加速度变化率\n            \"jerk_x\": [],               加速度变化率 x 方向值\n            \"jerk_y\": [],               加速度变化率 y 方向值\n            \"jerk_z\": [],               加速度变化率 z 方向值\n            \"brake\": [],                刹车 [0.0, 1.0] 之间取值\n            \"steer\": [],                方向 [-1.0, 1.0] 之间取值\n            \"throttle\": [],             油门 [0.0, 1.0] 之间取值\n            \"game_time\": [],            仿真时间，单位 s\n            \"velocity\": [],             车辆速度，单位 m/s\n            \"velocity_x\": [],           车辆速度 x 方向值\n            \"velocity_y\": [],           车辆速度 y 方向值\n            \"velocity_z\": [],           车辆速度 z 方向值\n            \"acceleration\": [],         车辆加速度，单位  m/s^2\n            \"acceleration_x\": [],       车辆加速度 x 方向值\n            \"acceleration_y\": [],       车辆加速度 y 方向值\n            \"acceleration_z\": [],       车辆加速度 z 方向值\n            \"relative_distance\": [],    相对前车距离，如果不存在前车，则为None\n            \"relative_velocity\": [],    相对前车速度，如果不存在前车，则为None\n            \"front_vehicles_count\": [], 前车数量\n        }\n\n        success_value: 该指标的期望成功值\n        comparison_operator: 比较操作符，可选择的值类型有\n            operator.gt: 表示大于 \"greaterThan\"\n            operator.lt: 表示小于 \"lessThan\"\n            operator.eq: 表示等于 \"equalTo\"\n            operator.ge: 表示大于等于 \"greaterOrEqual\"\n            operator.le: 表示小于等于 \"lessOrEqual\"\n            operator.ne: 表示不等于 \"notEqualTo\"\n\n    Returns:\n        float: 指标得分，[0, 100] 之间的浮点型数据\n    \"\"\"\n    V_LOW_LB = 5\n    THW_MIN_LB = 1.0\n    THW_STABLE_LB = 1.5\n    THW_STABLE_UB = 2.2\n    MEAN_DEACC_MAX_UB = 3.0\n    MEAN_JERK_MAX_UB = 2.5\n    ACC_MAX_UB = 2.0\n\n    # 假设1：第一个大于 ASSUMPTION_1_QUANTILE 的速度后开始开启ACC\n    ASSUMPTION_1 = True\n    ASSUMPTION_1_QUANTILE = 20\n\n    acc_starting_idx = 0\n    data_length = len(final_data[\"velocity\"])\n\n    if ASSUMPTION_1:\n        # 获得速度的百分位数\n        velocity = final_data[\"velocity\"]\n        velocity_percentile = np.percentile(velocity, ASSUMPTION_1_QUANTILE)\n\n        for i in range(data_length):\n            if velocity[i] >= velocity_percentile:\n                acc_starting_idx = i\n                break\n\n    score = 0\n\n    thw = final_data[\"thw\"][acc_starting_idx:]\n    velocity = final_data[\"velocity\"][acc_starting_idx:]\n    accelration_x = final_data[\"acceleration_x\"][acc_starting_idx:]\n    accelration = final_data[\"acceleration\"][acc_starting_idx:]\n    jerk = final_data[\"jerk\"][acc_starting_idx:]\n\n    # τ_min≥1 & 稳态跟车时距在1.5~2.2s\n    for idx, val in enumerate(velocity):\n        if val >= V_LOW_LB:\n            if thw[idx] is not None and (\n                thw[idx] < THW_STABLE_LB or thw[idx] > THW_STABLE_UB\n            ):\n                # print(f\"ACC_Evaluation: thw(={thw[idx]}) is not in the range of [1.5, 2.2]\")\n                return score + 1\n        else:\n            # ACC进行正向加速操作的前提是车速大于V_LOW\n            if accelration_x[idx] > 0:\n                # print(f\"ACC_Evaluation: acceleration_x(={accelration_x[idx]}) is not less or equal than 0\")\n                return score + 2\n            if thw[idx] is not None and thw[idx] < THW_MIN_LB:\n                # print(f\"ACC_Evaluation: thw(={thw[idx]}) is less than 1\")\n                return score + 3\n\n    score += 10\n\n    # accerlation 以两秒为长度采样求均值\n    game_time = final_data[\"game_time\"][acc_starting_idx:]\n    j = 0\n    k = 0\n    mean_accerlation = 0\n    mean_jerk = 0\n    for i, val in enumerate(game_time):\n        while j < len(game_time) and game_time[j] < val + 2:\n            j += 1\n        while k < len(game_time) and game_time[k] < val + 1:\n            k += 1\n\n        if j != len(game_time):\n            # 选出i到j之间加速度为负的数据，并求平均\n            mean_accerlation = []\n            for l1 in range(i, j):\n                if accelration[k] < 0:\n                    mean_accerlation.append(accelration[l1])\n            if len(mean_accerlation) != 0:\n                mean_accerlation = sum(mean_accerlation) / len(mean_accerlation)\n\n        if k != len(game_time):\n            # 选出i到k之间减速度变化率为负的数据，并求平均\n            mean_jerk = []\n            for l2 in range(i, k):\n                if jerk[k] < 0:\n                    mean_jerk.append(jerk[l2])\n            if len(mean_jerk) != 0:\n                mean_jerk = sum(mean_jerk) / len(mean_jerk)\n\n        # 平均减速度不大于3.0m/s^2，按2s采样\n        if mean_accerlation < 0 and mean_accerlation < -MEAN_DEACC_MAX_UB:\n            # print(f\"ACC_Evaluation: mean_accerlation(={mean_accerlation}) is less than -3.0\")\n            return score + 1\n\n        # 平均减速度变化率不大于2.5m/s^3，按1s采样\n        if mean_jerk < 0 and mean_jerk < -MEAN_JERK_MAX_UB:\n            # print(f\"ACC_Evaluation: mean_jerk(={mean_jerk}) is less than -2.5\")\n            return score + 2\n\n        # 加速度不大于2.0m/s^2\n        if accelration_x[i] > ACC_MAX_UB:\n            # print(f\"ACC_Evaluation: acceleration_x(={accelration_x[i]}) is greater than 2.0\")\n            return score + 3\n\n    # 弯道时的情况需要知道道路曲率，无法计算\n\n    score = success_value\n\n    if comparison_operator(score, success_value):\n        score = 100\n    return score\n"
}'