Motion Planning on Monte Carlo simulations multi-vehicle highway scenarios
0Failure RateSMPC
Evaluation results
| Method | Links | |||
|---|---|---|---|---|
| SMPC2026.05 | 0 | 727.6 | 44 | |
| B-SMPCnoSCScenario Clustering=None2026.05 | 0 | 119.4 | 116 | |
| B-SMPCScenario Clustering=Enabled, Adaptive branching-time=Enabled2026.05 | 0 | 118.6 | 46 | |
| B-SMPCnoDTWAdaptive branching-time=Disabled, Fixed branching time=k_branch = 22026.05 | 3.1 | 294.4 | 55 | |
| BMPCTrajectory Uncertainty=Ignored (nominal only)2026.05 | 3.3 | 108.6 | 62 | |
| NMPC2026.05 | 14.9 | 290.7 | 38 |