ResearchBenchmarksAutonomous Parking Trajectory Planning on CARLA 50m ≤ distance ≤ 300m (long-range)Autonomous Parking Trajectory Planning on CARLA 50m ≤ distance ≤ 300m (long-range)Follow0.06L2 Distance (m)ParkingTransformer0.0570.05850.060.0615Jun 12, 2026Evaluation resultsMethodMethodLinksL2 Distance (m)Hausdorff Distance (m)Four Difference (m)ParkingTransformer2026.060.060.170.86