Autonomous Driving Evaluation on nuPlan Generated safety-critical scenarios
50Collision Rate (%)GC-PGP
Evaluation Results
| Method | Links | |||||
|---|---|---|---|---|---|---|
| GC-PGPScenario type=Generated2025.12 | 50 | 25 | 0.44 | 75 | 64.1 | |
| PDM-ClosedScenario type=Generated2025.12 | 66.7 | 41.7 | 0.64 | 66.7 | 66.4 | |
| PDM-HybridScenario type=Generated2025.12 | 83.3 | 50 | 0.6 | 66.7 | 62.4 | |
| Urban DriverScenario type=Generated2025.12 | 83.3 | 66.7 | 0.83 | 50 | 72.4 |