ResearchBenchmarksMotion Planning on UrbanScenarios Original v1.0 (val)Motion Planning on UrbanScenarios Original v1.0 (val)Follow0.8Collision Rate (3s)P30.6041.9273.254.573Jan 16, 2021Evaluation resultsMethodMethodLinksCollision Rate (3s)Collision Rate (5s)Tracking Error L2 (3s)Tracking Error L2 (5s)Max Lateral Acceleration (m/s^2)Max Jerk (m/s^3)P3Scenario type=OriginalScenario type=Original2021.010.88.51.584.743.091.79PLTScenario type=OriginalScenario type=Original2021.011.312.11.745.13.221.91NMPScenario type=OriginalScenario type=Original2021.012.614.53.39.313.466.08ILScenario type=OriginalScenario type=Original2021.015.720.44.258.74——