Controllable Scenario Generation on COLLIDE
20Maneuver Performance: Lane ChangeC-SGAN
Evaluation results
| Method | Links | ||||||||
|---|---|---|---|---|---|---|---|---|---|
| C-SGANMetric Category=Collision Rate, Generation Strategy=Autoregressive rollout2025.10 | 20 | — | — | 20 | 18 | 9 | 0 | 14 | |
| C-MIDMetric Category=Collision Rate, Generation Strategy=Autoregressive rollout2025.10 | 25 | — | — | 10 | 9 | 5 | 10 | 11 | |
| C-STRIVEMetric Category=Collision Rate, Generation Strategy=Autoregressive rollout2025.10 | 32 | — | — | 21 | 39 | 16 | 15 | 25 | |
| C-SGANMetric Category=Similarity, Generation Strategy=Autoregressive rollout2025.10 | 34 | — | — | 33 | 68 | 0 | 0 | 39 | |
| C-MIDMetric Category=Similarity, Generation Strategy=Autoregressive rollout2025.10 | 42 | — | — | 68 | 74 | 33 | 22 | 49 | |
| C-STRIVEMetric Category=Similarity, Generation Strategy=Autoregressive rollout2025.10 | 52 | — | — | 75 | 93 | 52 | 18 | 68 | |
| Collision Pattern PredictionMetric Category=Similarity, Generation Strategy=Pattern prediction + planner2025.10 | 62 | — | — | 90 | 87 | 84 | 76 | 81 | |
| Collision Pattern PredictionMetric Category=Collision Rate, Generation Strategy=Pattern prediction + planner2025.10 | 73 | — | — | 77 | 84 | 81 | 90 | 81 |