OpenHUTB · donghaiwang · Jun 10, 2026 · Jan 15, 2026 · Jan 15, 2026 · May 12, 2026
diff --git a/critical/README.md b/critical/README.md
@@ -43,7 +43,7 @@
 
 ```bash
 # 1. 启动 CARLA 仿真器
-cd D:\hutb\hutb && CarlaUE4.exe
+双击 CarlaUE4.exe
 
 # 2. 运行项目
 python main.py

diff --git a/critical/_lane.py b/critical/_lane.py
diff --git a/critical/agent.py b/critical/agent.py
diff --git a/critical/combined_night_pedestrian.py b/critical/combined_night_pedestrian.py
diff --git a/critical/__init__.py → critical/config/__init__.py b/critical/__init__.py → critical/config/__init__.py
diff --git a/critical/carla_config.py → critical/config/carla_config.py b/critical/carla_config.py → critical/config/carla_config.py
diff --git a/critical/dqn_config.py → critical/config/dqn_config.py b/critical/dqn_config.py → critical/config/dqn_config.py
diff --git a/critical/ppo_config.py → critical/config/ppo_config.py b/critical/ppo_config.py → critical/config/ppo_config.py
diff --git a/critical/env/__init__.py b/critical/env/__init__.py
@@ -0,0 +1,5 @@
+# env/__init__.py
+# 环境模块统一入口
+
+from .carla_env import CarlaEnv
+from .reward import RewardCalculator
diff --git a/critical/carla_env.py → critical/env/carla_env.py b/critical/carla_env.py → critical/env/carla_env.py
@@ -9,7 +9,14 @@
 try:
     import carla
 except ImportError:
-    carla_root = os.environ.get("CARLA_ROOT", r"D:\hutb\hutb")
+    carla_root = os.environ.get("CARLA_ROOT")
+    if not carla_root:
+        raise ImportError(
+            "未设置 CARLA_ROOT 环境变量。\n"
+            "请设置环境变量指向 CARLA 安装目录，例如：\n"
+            "  Windows: set CARLA_ROOT=D:\\hutb\\hutb\n"
+            "  或在代码中: os.environ['CARLA_ROOT'] = 'D:\\hutb\\hutb'"
+        )
     egg_dir = os.path.join(carla_root, "PythonAPI", "carla", "dist")
     egg_file = os.path.join(egg_dir,
         "carla-0.9.16-py3.7-win-amd64.egg" if os.name == "nt"

diff --git a/critical/reward.py → critical/env/reward.py b/critical/reward.py → critical/env/reward.py