ResearchBenchmarksMotion 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——