ResearchBenchmarksHighway driving on Highway driving scenario light trafficHighway driving on Highway driving scenario light trafficFollow0.625JcLTV-MPC0.19860.30930.420.5307Dec 3, 2025Evaluation resultsMethodMethodLinksJcJr (per step)rho_cnstepsVehicle Speed (vx)LTV-MPCTraffic Scenario=lightTraffic Scenario=light2025.120.625—0.002624424.38PPO-L-SITraffic Scenario=lightTraffic Scenario=light2025.120.308—0.000934823.11SRMPCTraffic Scenario=lightTraffic Scenario=light2025.120.215—0.000635724.63