Autonomous Driving on CARLA (Collision, Speed, Distance Metrics)
14.3Collision RatePPO-LTL-A
Evaluation Results
| Method | Links | |||||||||
|---|---|---|---|---|---|---|---|---|---|---|
| PPO-LTL-ACost limit=0.02, Strictness=Strict2026.03 | 14.3 | 7.7 | 5.96 | 3.57 | 703 | 154.3 | 52 | 25 | 0.03 | |
| PPO-LTL-BCost limit=0.1, Strictness=Relaxed2026.03 | 17 | 23.6 | 12.79 | 1.48 | 4,859 | 10 | 73 | 8 | 0 | |
| TIRL-PPO2026.03 | 17.3 | 8.3 | 6.37 | 0.07 | 9,460 | 7.3 | 87 | — | — | |
| PPO-Lagrangian2026.03 | 23.3 | 7.7 | 7.78 | 0.96 | 6,616 | 103 | 60 | 0 | 0.01 | |
| PPO2026.03 | 26.2 | 1.3 | 6.58 | 0.45 | 4,030 | 8 | 77 | — | — | |
| PPO-Shielding2026.03 | 26.7 | 7.2 | 18.87 | 10.63 | 93 | 164.3 | 52 | — | — | |
| TIRL-SAC2026.03 | 33.6 | 2.7 | 6.92 | 0.92 | 926 | 57.3 | 12 | — | — | |
| PPO-Mask2026.03 | 40.8 | 1 | 2.38 | 1.06 | 1,338 | 38 | 37 | — | — |