Table 2
Simulation parameter configuration table.
| Parameter category | Parameter name | Value range / options | Unit | Description |
|---|---|---|---|---|
| Illumination Conditions | Illumination Intensity | 0.20, 0.35, 0.55, 0.78, 1.00 | Dimensionless | 0.2 for heavy fog/deep night, 1.0 for noon on a sunny day. |
| Weather Types | Fog Density | 0.00, 0.15, 0.42, 0.85, 1.10 | Dimensionless | 0.0 for no fog, 1.1 for dense fog. |
| Rain Intensity | 0.00, 0.22, 0.68, 1.00 | 0.0 for no rain, 1.0 for heavy rain. | ||
| Nighttime Index | 0.00, 0.30, 0.75, 1.00 | 0.0 for daytime, 1.0 for complete darkness. | ||
| Terrain Complexity | Terrain Level | 1, 2, 3, 4, 5 | Level | 1 for flat park, 5 for steep mountainous forest. |
| Scene Diversity | Vegetation Density Coefficient | 0.8, 1.0, 1.3, 1.7, 2.0 | Multiplier | Multiplier relative to baseline density. |
| Dynamic Obstacle Density | 0.05, 0.12, 0.25, 0.33, 0.40 | persons/m2 | Simulates different crowd density scenes. |
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