ResearchBenchmarksHighway driving scenario dense trafficHighway driving scenario dense trafficFollow0.788Control Input JcLTV-MPC0.33560.453050.57050.68795Dec 3, 2025Evaluation resultsMethodMethodLinksControl Input JcJerk (per step)Control Input Rho_cNumber of StepsVelocity (vx)LTV-MPCTraffic Scenario=denseTraffic Scenario=dense2025.120.788—0.005713924.79PPO-L-SITraffic Scenario=denseTraffic Scenario=dense2025.120.54—0.00227422.47SRMPCTraffic Scenario=denseTraffic Scenario=dense2025.120.353—0.001230524.47