ResearchBenchmarksAutonomous Driving Safety on VRU-Accident CoA attackFollow83.13GARVanilla49.309258.089666.8775.6504May 11, 2026Evaluation ResultsMethodMethodLinksGARDelta GARVanillaSafeguard=None, Base M...Safeguard=None, Base Model=DriveLM2026.0583.13—RFSafeguard=RF, Base Mod...Safeguard=RF, Base Model=DriveLM2026.0578-5.13CMSafeguard=CM, Base Mod...Safeguard=CM, Base Model=DriveLM2026.0577.7-5.43SafeAutoSafeguard=SafeAuto, Ba...Safeguard=SafeAuto, Base Model=DriveLM2026.0574.14-8.99GUARDADSafeguard=GUARDAD, Bas...Safeguard=GUARDAD, Base Model=DriveLM2026.0550.61-32.52