ResearchBenchmarksAutonomous Driving Safety on VRU-Accident CAD attackFollow82.13GARVanilla51.429259.399667.3775.3404May 11, 2026Evaluation ResultsMethodMethodLinksGARDelta GARVanillaSafeguard=None, Base M...Safeguard=None, Base Model=DriveLM2026.0582.13—CMSafeguard=CM, Base Mod...Safeguard=CM, Base Model=DriveLM2026.0577.7-4.43RFSafeguard=RF, Base Mod...Safeguard=RF, Base Model=DriveLM2026.0577-5.13SafeAutoSafeguard=SafeAuto, Ba...Safeguard=SafeAuto, Base Model=DriveLM2026.0570.14-11.99GUARDADSafeguard=GUARDAD, Bas...Safeguard=GUARDAD, Base Model=DriveLM2026.0552.61-29.52