Autonomous Driving on HighwayEnv Scenario 2 (30 closed-loop simulations)
100Preference RateFrenet-Planner
Evaluation results
| Method | Links | |||
|---|---|---|---|---|
| Frenet-Planner2026.02 | 100 | 16.24 | 4.43 | |
| preference-aware planning framework2026.02 | 99.86 | 15.95 | 2.93 | |
| Batch MPC2026.02 | 89.59 | 16.45 | 4.5 | |
| CBF + MPPI2026.02 | 89.11 | 16.52 | 4.53 |