ResearchBenchmarksCruising in Dense Traffic on NGSIM freeway in the San Francisco Bay AreaCruising in Dense Traffic on NGSIM freeway in the San Francisco Bay AreaFollow5.5Spatial Mean Absolute Error (m)Batch-MPC5.43925.84966.266.6704Sep 16, 2024Evaluation resultsMethodMethodLinksSpatial Mean Absolute Error (m)EMA Velocity Error (m/s)Max X Jerk (m/s^3)Max Y Jerk (m/s^3)Mean X Acceleration (m/s^2)Mean Y Acceleration (m/s^2)Mean Yaw Rate (rad/s)Optimal Time (ms)Batch-MPC2024.095.50.16012.883817.34280.18740.41090.013948.87BPHTO2024.096.730.1242.78892.8450.20560.54020.037773.76CPTO2024.097.020.04932.13612.72150.19280.59030.009875.41