ResearchBenchmarksHuman-Machine Cooperative Driving on Driving Simulator Driver 5Human-Machine Cooperative Driving on Driving Simulator Driver 5Follow12.089Safety ScoreFACD9.7479610.3557310.963511.57127Dec 29, 2025Evaluation resultsMethodMethodLinksSafety ScoreStability ScoreComfort ScoreDPWDCWHMCFACD2025.1212.08917.85811.11626.5490.64910.674DCCD2025.1210.99318.20614.0714.5780.6784.726HOCD2025.129.83817.70712.066.8430.6092.085