Motion Planning on NGSIM Highway Cut-in Scenario
0Pc (%)Worst-Case Barrier Planner
Evaluation Results
| Method | Links | |||||||
|---|---|---|---|---|---|---|---|---|
| Worst-Case Barrier Plannerprediction_type=worst-case FRS predictions2025.09 | 0 | 6.53 | 6.17 | 7.08 | 15.75 | 186.07 | 0.033 | |
| Safe Contingency Plannerfeatures=online-updated FRS-based barrier constraints, contingency planning2025.09 | 0 | 1.48 | 4.41 | 3.13 | 19.31 | 228.38 | 0.034 | |
| Uncertain-Aware Plannerimplementation=NMPC solved with ACADO in C++2025.09 | 0 | 5.61 | 9.67 | 10.23 | 14.28 | 168.16 | 0.038 | |
| ST-RHCprediction_type=constant-velocity prediction2025.09 | 18.18 | 0.35 | 6.39 | 3.83 | 20.21 | 239.49 | 0.029 | |
| Deterministic Barrier Plannerconstraint_type=nominal barrier constraint2025.09 | 27.27 | 0.31 | 5 | 3.21 | 19.86 | 234.05 | 0.035 |