ResearchBenchmarksMotion Planning on SUMO simulator 4-Lane ConfigurationFollow22.579Average Velocity (Vavg)IPPO18.8100419.7885220.76721.74548Jun 8, 2026Evaluation ResultsMethodMethodLinksAverage Velocity (Vavg)Travel Time (Ttravel)Jerkiness (Jacc)Success Rate (Rsuccess)IPPO2026.0622.57923.50.869100rMAPPO2026.0621.44324.40.855100MAPPO-PIS2026.0620.62327.80.632100MVCM2026.0620.52925.50.617100UAMP2026.0620.28621.30.567100P-DRL2026.0618.95524.20.83298