ResearchBenchmarksHuman-Machine Cooperative Driving on Driving Simulator Driver 4Human-Machine Cooperative Driving on Driving Simulator Driver 4Follow10.099Safety ScoreDCCD9.816129.889569.96310.03644Dec 29, 2025Evaluation resultsMethodMethodLinksSafety ScoreStability ScoreComfort ScoreDPWDCWHMCDCCD2025.1210.09918.16314.1917.3190.765.079FACD2025.1210.04117.65911.0579.2580.7863.92HOCD2025.129.82717.52111.2327.1820.6892.226