| $ {w_{\mathrm{s}}} $ | 0.5 | | $ {k_{{\text{acc}}}} $/(s2·m−1) | 0.1 | | $ {k_{{\text{flow}}}} $ | 0.1 | | $ {C_{{\text{re}}{{\text{d}}^\prime }}} $ | 40 |
| $ {C_{{\text{col}}}} $ | −1 000 | | $ {a_{{\text{th}}}} $/(m·s−2) | 2 | | $ {w_{{\mathrm{s}}'}} $ | 0.4 | | $ {k_{{\text{gree}}{{\text{n}}^\prime }}} $/(s·m−1) | 0.04 |
| $ {k_{{\text{dist}}}} $/m−2 | 10 | | $ {k_{{\text{jerk}}}} $/(s4·m−1) | 0.2 | | $ {C_{{\text{co}}{{\text{l}}^\prime }}} $ | −1 000 | | $ {k_{{\text{sudde}}{{\text{n}}^\prime }}} $/(s2·m−1) | 0.05 |
| $ {d_{{\text{min}}}} $/m | 1 | | $ {k_\delta } $ | 0.05 | | $ {k_{{\text{dis}}{{\text{t}}^\prime }}} $/m−2 | 5 | | $ {w_{\mathrm{h}}} $ | 0.15 |
| $ \epsilon $/m | 0.1 | | $ {\delta _{\max }} $/rad | π/4 | | $ {d_{{{\min }^\prime }}} $/m | 1 | | $ \lambda $ | 0.3 |
| $ {k_{{\text{ped}}}} $/m−3 | 20 | | $ {w_{\mathrm{p}}} $ | 0.05 | | $ {d_{{\text{saf}}{{\text{e}}^\prime }}} $/m | 1.5 | | $ {k_{{\text{run - yellow}}}} $ | 1 |
| $ {d_{{\text{ped\_safe}}}} $/m | 3 | | $ {C_{{\text{ped}}}} $ | −500 | | $ {w_{{\mathrm{e}}'}} $ | 0.3 | | $ {k_{{\text{stop - green}}}} $ | 0.5 |
| $ {d_{{\text{ped\_min}}}} $/m | 0.5 | | $ {k_{{\text{yield}}}} $ | 5 | | $ {k_{{\mathrm{v}}'}} $/(s·m−1) | 0.12 | | $ {k_{{\text{honk - ped}}}} $ | 0.3 |
| $ {t_{{\text{react}}}} $/s | 1.5 | | $ {k_{{\text{honk}}}} $ | 1 | | $ {v_{{\text{pref}}}} $/(m·s−1) | 限速×1.15 | | $ {k_{{\text{distract}}}} $ | 0.1 |
| $ {d_0} $/m | 2 | | $ {k_{{\text{pred}}}} $/m−2 | 0.5 | | $ {k_{{\text{pro}}{{\text{g}}^\prime }}} $/m−1 | 0.01 | | $ {w_{\Pr }} $ | 1 |
| $ {w_{\mathrm{e}}} $ | 0.3 | | $ {d_{{\text{cross\_safe}}}} $/m | 10 | | $ {k_{{\text{delay}}}} $/s−1 | 0.02 | | $ {w_{{\text{phase - change}}}} $ | 0.5 |
| $ {k_{\mathrm{v}}} $/(s·m−1) | 0.1 | | $ {w_{\mathrm{l}}} $ | 0.05 | | $ {k_{{\text{detour}}}} $/m−1 | 0.001 | | $ {w_{{\text{throughput}}}} $ | 1.2 |
| $ {v_{{\text{target}}}} $/(m·s−1) | 限速 | | $ {C_{{\text{red}}}} $ | 50 | | $ {w_{{\mathrm{c}}'}} $ | 0.05 | | $ {w_{{\text{emergency}}}} $ | 0.3 |
| $ {k_{{\text{prog}}}} $/m−1 | 0.01 | | $ {v_{\max }} $/(m·s−1) | 40 | | $ k_{{\text{acc}}}^{'} $/(s2·m−1) | 0.05 | | $ {w_{{\text{queue}}}} $ | 0.8 |
| $ {k_{{\text{idle}}}} $/s−1 | 0.05 | | $ {k_{{\text{green}}}} $/(s·m−1) | 0.05 | | $ {a_{{\text{t}}{{\text{h}}^\prime }}} $/(m·s−2) | 3 | | $ {w_{{\text{wait}}}} $ | 0.3 |
| $ {v_{\min }} $/(m·s−1) | 2 | | $ {v_{{\text{lim}}}} $/(m·s−1) | 限速 | | $ k_{{\text{jerk}}}^{'} $/(s4·m−1) | 0.1 | | $ w_{{\text{phase - change}}}^{'} $ | 0.4 |
| $ {k_{{\text{route}}}} $/ m−1 | 0.001 | | $ {k_{{\text{yellow}}}} $/(s2·m−1) | 0.1 | | $ {k_{\delta '}} $ | 0.03 | | $ \gamma $ | 0.99 |
| $ {w_{\mathrm{r}}} $ | 0.1 | | $ {k_{{\text{antic}}}} $ | 0.2 | | $ {w_{{\mathrm{p}}'}} $ | 0.05 | | 学习率 | 0.000 01 |
| $ {k_{{\text{lane}}}} $/ m−1 | 0.1 | | $ {w_{{\mathrm{co}}}} $ | 0.05 | | $ {C_{{\text{pe}}{{\text{d}}^\prime }}} $ | −500 | | 总训练回合数 | 1 500 |
| $ {k_{{\text{signal}}}} $ | 0.5 | | $ {k_{{\text{v2x}}}} $ | 2 | | $ {k_{{\text{hon}}{{\text{k}}^\prime }}} $ | 0.5 | | $ \epsilon $ | 0.2 |
| $ {k_{{\text{illegal}}}} $ | 1 | | $ {k_{{\text{cross}}}} $ | 1 | | $ {k_{{\text{ped}}\_{\text{avoid}}}} $ | 2 | | SGD迭代次数 | 5 |
| $ {w_{\mathrm{c}}} $ | 0.05 | | $ {k_{{\text{block}}}} $ | 1 | | $ {w_{{\mathrm{l}}'}} $ | 0.05 | | $ B $ | 100 |