ResearchBenchmarksEvent-level early warning analysis on CARLA semantic-failure scenariosEvent-level early warning analysis on CARLA semantic-failure scenariosFollow100Emergency Vehicle RecallHeuristic96.8897.6998.599.31Dec 31, 2025Evaluation resultsMethodMethodLinksEmergency Vehicle RecallEmergency Vehicle Lead (ms)Construction Zone RecallConstruction Zone Lead (ms)School Bus Stop RecallSchool Bus Stop Lead (ms)Overall RecallOverall Lead (ms)Heuristic2025.121000100010001000LSRE2025.1299.51,4801003,273.51002,792.599.82,515.3VLM-Only2025.129751.5100248100454.59951.7