Closed-loop Simulation on nuScenes
4Collision Rate (%)CCDiff
Evaluation results
| Method | Links | |||||||
|---|---|---|---|---|---|---|---|---|
| CCDiffHorizon=80, Ego Planner=Lane-graph ego planner [24], Time (s)=180.52026.07 | 4 | 0.3 | — | 0.1 | 4.4 | 0.49 | 1 | |
| CCDiffHorizon=200, Ego Planner=Lane-graph ego planner [24], Time (s)=533.62026.07 | 11.3 | 0.7 | — | 0.18 | 9.1 | 0.56 | 0.9 | |
| STRIVEHorizon=80, Ego Planner=Lane-graph ego planner [24], Time (s)=466.32026.07 | 20.8 | 1.9 | — | 0.56 | 5.8 | 0.83 | 0.67 | |
| SAFE-SIMHorizon=80, Ego Planner=Lane-graph ego planner [24], Time (s)=128.92026.07 | 25.8 | 0.8 | — | 0.42 | 5 | 0.63 | 0.83 | |
| SAFE-SIMHorizon=200, Ego Planner=Lane-graph ego planner [24], Time (s)=322.52026.07 | 26.1 | 1.5 | — | 0.41 | 11.4 | 0.45 | 0.9 | |
| CCFMHorizon=80, Ego Planner=Lane-graph ego planner [24], Time (s)=123.02026.07 | 46.4 | 2.8 | 84.3 | 1 | 5.4 | 0.78 | 0.72 | |
| CCFMHorizon=200, Ego Planner=Lane-graph ego planner [24], Time (s)=316.32026.07 | 59.9 | 4 | 85.4 | 1 | 11.4 | 0.71 | 0.72 |