ResearchBenchmarksAutonomous Driving Planning on highD Real-worldFollow1.61Inference Time (s)LMTraj0.94845.41429.8814.3458Mar 31, 2026Evaluation ResultsMethodMethodLinksInference Time (s)Memory Usage (MB)LLM API Call Time (s)MCTS Planning Time (s)Trust Update Time (s)LMTrajMode=fine-tunedMode=fine-tuned2026.031.61278———LangMPC2026.0312.52490———DiLu2026.0315.72621———GPT-Dr2026.0316.9582———C-TRAILBackbone=GPT-4o, MCTS...Backbone=GPT-4o, MCTS Simulations (K)=502026.0318.1554013.553.80.8