Closed-loop simulation on nuPlan
42.1Collision Rate (%)SAFE-SIM
Evaluation results
| Method | Links | |||||||
|---|---|---|---|---|---|---|---|---|
| SAFE-SIMHorizon=80, Ego Planner=Lane-graph ego planner [24], Time (s)=271.42026.07 | 42.1 | 2.4 | — | 0.48 | 3.6 | 0.33 | 0.74 | |
| SAFE-SIMHorizon=200, Ego Planner=Lane-graph ego planner [24], Time (s)=728.42026.07 | 50.6 | 3 | — | 0.51 | 8.7 | 0.27 | 0.61 | |
| CCFMHorizon=80, Ego Planner=Lane-graph ego planner [24], Time (s)=356.32026.07 | 83.1 | 5.2 | 85.6 | 1 | 1.7 | 0.33 | 1 | |
| CCFMHorizon=200, Ego Planner=Lane-graph ego planner [24], Time (s)=970.52026.07 | 95.2 | 6.1 | 84.7 | 1 | 1.9 | 0.3 | 0.95 |