ResearchBenchmarksDriving Performance Validation on Lane Change Scenario (val)Driving Performance Validation on Lane Change Scenario (val)Follow2.15Time to Collision (s)LLM4AD2.12762.27882.432.5812Oct 20, 2024Evaluation resultsMethodMethodLinksTime to Collision (s)Sigma XSigma YAbsolute Acceleration (|a_x|)Absolute Jerk (|J_x|)Absolute Lateral Acceleration (|a_y|)Absolute Jerk (|J_y|)Command AlignmentScenario AlignmentDriving ScoreLLM4ADVLM Latency(s)=1.83VLM Latency(s)=1.832024.102.154.072.150.413.350.981.0292.271.977.5Baseline2024.102.443.911.650.373.140.881.0188.56074.5GPT-4oVLM Latency(s)=4.84VLM Latency(s)=4.842024.102.713.882.230.534.381.131.3990.488.678.4