ResearchBenchmarksHuman-Machine Cooperative Driving on Driving Simulator AverageHuman-Machine Cooperative Driving on Driving Simulator AverageFollow11.394Safety ScoreFACD9.724810.1581510.591511.02485Dec 29, 2025Evaluation resultsMethodMethodLinksSafety ScoreStability ScoreComfort ScoreDPWDCWHMC ScoreFACD2025.1211.39418.23712.01319.8140.7857.782DCCD2025.1211.08118.212.48816.290.7956.264HOCD2025.129.78917.49811.4546.1350.6622.403