ResearchBenchmarksHuman-Machine Cooperative Driving on Driving Simulator Driver 2Human-Machine Cooperative Driving on Driving Simulator Driver 2Follow9.939Safety ScoreHOCD9.824210.599111.37412.1489Dec 29, 2025Evaluation resultsMethodMethodLinksSafety ScoreStability ScoreComfort ScoreDPWDCWHMCHOCD2025.129.93917.67711.1958.1540.5771.99DCCD2025.1211.83118.48414.06721.5510.7138.211FACD2025.1212.80918.46514.02830.6260.60812.777