# Closed-loop Autonomous Driving Planning on Bench2Drive (test) Source: [Closed-loop Autonomous Driving Planning on Bench2Drive (test)]() Collection index: [llms.txt]() Data updated: 2026-07-07T07:41:49.006Z Evaluation of closed-loop autonomous driving planning performance on the Bench2Drive test set, covering overall scores (DS, SR, Efficiency, Comfort) and specific maneuver success rates (Merging, Overtaking, E-Brake, Give Way, Traffic Sign compliance). A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage. | Scope | Recorded value | | --- | --- | | Task | Closed-loop Autonomous Driving Planning | | Dataset (including any stated split) | Bench2Drive (test) | | Metric | Driving Score (DS) | | Unit | PERCENT | | Direction | Higher is better | | Results loaded | 16 of 16 | | Coverage | All results currently returned for this benchmark | Evaluation settings may differ between results. The original papers and recorded configurations are needed to establish comparability. A shared metric name alone does not establish an identical protocol. ## Metrics - [Driving Score (DS)](): Higher is better; unit: PERCENT. - [Success Rate (SR)](): Higher is better; unit: PERCENT. - [Efficiency Score](): Higher is better; unit: SCALAR. - [Comfort Score](): Higher is better; unit: SCALAR. - [Merging Success Rate](): Higher is better; unit: PERCENT. - [Overtaking Success Rate](): Higher is better; unit: PERCENT. - [Emergency Brake Compliance](): Higher is better; unit: PERCENT. - [Give Way Compliance](): Higher is better; unit: PERCENT. - [Traffic Sign Compliance](): Higher is better; unit: PERCENT. - [Mean Score](): Higher is better; unit: SCALAR. ## Recorded results | Method | Driving Score (DS) | Result date | Report paper | | --- | --- | --- | --- | | HiP-AD | 86.8 | Not recorded | 6a4c87fa85dba69fef8b258e | | CLEAR | 86.8 | Not recorded | 6a4c87fa85dba69fef8b258e | | CLEAR | 85.9 | Not recorded | 6a4c87fa85dba69fef8b258e | | SimLingo | 85.1 | Not recorded | 6a4c87fa85dba69fef8b258e | | GeRo | 81.9 | Not recorded | 6a4c87fa85dba69fef8b258e | | ORION | 77.7 | Not recorded | 6a4c87fa85dba69fef8b258e | | ReCogDrive | 71.4 | Not recorded | 6a4c87fa85dba69fef8b258e | | Raw2Drive | 71.4 | Not recorded | 6a4c87fa85dba69fef8b258e | | DriveAdapter | 64.2 | Not recorded | 6a4c87fa85dba69fef8b258e | | Qwen2.5 | 63.9 | Not recorded | 6a4c87fa85dba69fef8b258e | | DriveTransformer-L | 63.5 | Not recorded | 6a4c87fa85dba69fef8b258e | | ThinkTwice | 62.4 | Not recorded | 6a4c87fa85dba69fef8b258e | | TCP-traj | 59.9 | Not recorded | 6a4c87fa85dba69fef8b258e | | UniAD-Base | 45.8 | Not recorded | 6a4c87fa85dba69fef8b258e | | MomAD | 44.5 | Not recorded | 6a4c87fa85dba69fef8b258e | | VAD | 42.4 | Not recorded | 6a4c87fa85dba69fef8b258e | ### HiP-AD Driving Score (DS): 86.8. Result ID: 6a4cada060b88bb339c7c1fd. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"zero-shot":"true"}. This record does not assert independent reproduction. ### CLEAR Driving Score (DS): 86.8. Result ID: 6a4cada060b88bb339c7c205. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Backbone":"InternVL3-1B"}. This record does not assert independent reproduction. ### CLEAR Driving Score (DS): 85.9. Result ID: 6a4cada060b88bb339c7c204. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Backbone":"InternVL2-1B"}. This record does not assert independent reproduction. ### SimLingo Driving Score (DS): 85.1. Result ID: 6a4cada060b88bb339c7c202. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### GeRo Driving Score (DS): 81.9. Result ID: 6a4cada060b88bb339c7c201. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### ORION Driving Score (DS): 77.7. Result ID: 6a4cada060b88bb339c7c1ff. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### ReCogDrive Driving Score (DS): 71.4. Result ID: 6a4cada060b88bb339c7c200. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### Raw2Drive Driving Score (DS): 71.4. Result ID: 6a4cada060b88bb339c7c203. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### DriveAdapter Driving Score (DS): 64.2. Result ID: 6a4cada060b88bb339c7c1f8. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### Qwen2.5 Driving Score (DS): 63.9. Result ID: 6a4cada060b88bb339c7c1fe. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### DriveTransformer-L Driving Score (DS): 63.5. Result ID: 6a4cada060b88bb339c7c1fc. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### ThinkTwice Driving Score (DS): 62.4. Result ID: 6a4cada060b88bb339c7c1f7. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### TCP-traj Driving Score (DS): 59.9. Result ID: 6a4cada060b88bb339c7c1f6. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### UniAD-Base Driving Score (DS): 45.8. Result ID: 6a4cada060b88bb339c7c1f9. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### MomAD Driving Score (DS): 44.5. Result ID: 6a4cada060b88bb339c7c1fb. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### VAD Driving Score (DS): 42.4. Result ID: 6a4cada060b88bb339c7c1fa. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. Page 1 of 1. This is an index page, not the full collection.