# End-to-end Driving on CARLA Bench2Drive v1 (test) Source: [End-to-end Driving on CARLA Bench2Drive v1 (test)]() Collection index: [llms.txt]() Data updated: 2026-02-26T05:41:16.625Z Evaluation of End-to-end driving performance on the test split of CARLA Bench2Drive version 1, reporting key metrics such as Driving Score and Success Rate. A research result applies to its stated dataset, split, metric and evaluation configuration. Compare like-for-like settings, preserve the metric's unit and direction, and distinguish paper-reported results from independent reproduction. The best result recorded here is not a claim of exhaustive, current global coverage. | Scope | Recorded value | | --- | --- | | Task | End-to-end driving | | Dataset (including any stated split) | CARLA Bench2Drive v1 (test) | | Metric | Driving Score | | Unit | PERCENT | | Direction | Higher is better | | Results loaded | 11 of 11 | | Coverage | All results currently returned for this benchmark | Evaluation settings may differ between results. The original papers and recorded configurations are needed to establish comparability. A shared metric name alone does not establish an identical protocol. ## Metrics - [Driving Score](): Higher is better; unit: PERCENT. - [Success Rate](): Higher is better; unit: PERCENT. ## Recorded results | Method | Driving Score | Result date | Report paper | | --- | --- | --- | --- | | PDM-Lite | 97 | Not recorded | 694b739b53fdd5c361739bc7 | | LEAD | 96.8 | Not recorded | 694b739b53fdd5c361739bc7 | | TFv6 | 95.2 | Not recorded | 694b739b53fdd5c361739bc7 | | TFv6 | 95 | Not recorded | 694b739b53fdd5c361739bc7 | | TFv6 | 94.7 | Not recorded | 694b739b53fdd5c361739bc7 | | TFv6 | 94.7 | Not recorded | 694b739b53fdd5c361739bc7 | | TFv6 | 94.2 | Not recorded | 694b739b53fdd5c361739bc7 | | TFv6 | 91.6 | Not recorded | 694b739b53fdd5c361739bc7 | | HiP-AD | 86.8 | Not recorded | 694b739b53fdd5c361739bc7 | | SimLingo | 85.1 | Not recorded | 694b739b53fdd5c361739bc7 | | TFv5 | 83.5 | Not recorded | 694b739b53fdd5c361739bc7 | ### PDM-Lite Driving Score: 97. Result ID: 699814585698665ec46e24b8. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### LEAD Driving Score: 96.8. Result ID: 699814585698665ec46e24b9. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: Not recorded. This record does not assert independent reproduction. ### TFv6 Driving Score: 95.2. Result ID: 699814585698665ec46e24b7. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Backbone":"RegNetY-032","Cameras":"3x","LiDAR":true,"Radar":true}. This record does not assert independent reproduction. ### TFv6 Driving Score: 95. Result ID: 699814585698665ec46e24b5. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Backbone":"ResNet-34","Cameras":"6x","LiDAR":true,"Radar":true}. This record does not assert independent reproduction. ### TFv6 Driving Score: 94.7. Result ID: 699814585698665ec46e24b3. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Backbone":"ResNet-34","Cameras":"6x","LiDAR":true,"Radar":false}. This record does not assert independent reproduction. ### TFv6 Driving Score: 94.7. Result ID: 699814585698665ec46e24b6. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Backbone":"ResNet-34","Cameras":"3x","LiDAR":true,"Radar":true}. This record does not assert independent reproduction. ### TFv6 Driving Score: 94.2. Result ID: 699814585698665ec46e24b4. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Backbone":"ResNet-34","Cameras":"6x","LiDAR":false,"Radar":true}. This record does not assert independent reproduction. ### TFv6 Driving Score: 91.6. Result ID: 699814585698665ec46e24b2. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Backbone":"ResNet-34","Cameras":"6x","LiDAR":false,"Radar":false}. This record does not assert independent reproduction. ### HiP-AD Driving Score: 86.8. Result ID: 699814585698665ec46e24af. [Reporting paper]() [Method origin paper]() [Implementation]() Recorded evaluation configuration: {"Backbone":"ResNet-50","Cameras":"6x","LiDAR":false,"Radar":false}. This record does not assert independent reproduction. ### SimLingo Driving Score: 85.1. Result ID: 699814585698665ec46e24b0. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Backbone":"InternViT-300M","Cameras":"1x","LiDAR":false,"Radar":false}. This record does not assert independent reproduction. ### TFv5 Driving Score: 83.5. Result ID: 699814585698665ec46e24b1. [Reporting paper]() [Method origin paper]() Recorded evaluation configuration: {"Backbone":"RegNetY-032","Cameras":"1x","LiDAR":true,"Radar":false}. This record does not assert independent reproduction. Page 1 of 1. This is an index page, not the full collection.