ResearchBenchmarksCollision Scenario Generation on COLLIDE Rule-based planner 1.0 (test)Collision Scenario Generation on COLLIDE Rule-based planner 1.0 (test)Follow0.31Lane ChangeOurs0.22680.24840.270.2916Oct 14, 2025Evaluation resultsMethodMethodLinksLane ChangeOpposite DirectionRear EndJunction CrossingLTAPAverage Success RateOursPlanner=Rule-based [7]Planner=Rule-based [7]2025.100.310.520.180.280.220.3C-STRIVEPlanner=Rule-based [7]Planner=Rule-based [7]2025.100.230.240.40.130.230.25