ResearchBenchmarksHuman-Machine Cooperative Driving on Driving Simulator Driver 6Follow9.953Safety ScoreHOCD9.8769610.3902310.903511.41677Dec 29, 2025Evaluation ResultsMethodMethodLinksSafety ScoreStability ScoreComfort ScoreDPWDCWHMCHOCD2025.129.95317.13811.8772.9330.6953.978FACD2025.1211.68218.93811.37122.3711.0558.198DCCD2025.1211.85418.33111.3523.1051.078.593