新增了速度检测机制，更新了奖励函数 #3294
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donghaiwang
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Dec 16, 2025
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新添加了速度检测机制，对奖励函数进k行了调整
检测方式：
从 CARLA 获取车辆实时三维速度（单位 m/s），计算速度模长后转换为 km/h（×3.6）；
对比预设城区限速 30千米每小时，判断是否超速。
扣分规则：
轻度超速（超 0~10千米每小时）：每 1 秒扣 1 分；
重度超速（超十千米每小时以上）：每 1 秒扣 3 分；
未超速：不扣分。
2025-12-16.091821.mp4