Path Tracking on CARLA 2,000 scenarios (test)
0.1041RMSE CTE (m)NMPC
Evaluation results
| Method | Links | |||||||
|---|---|---|---|---|---|---|---|---|
| NMPC2026.01 | 0.1041 | 0.2441 | 4.367 | 98.53 | 0.0312 | 74.48 | 7.87 | |
| IL+Softconstraint_type=soft2026.01 | 0.1473 | 0.3214 | 4.184 | 99.56 | 0.0429 | 44.35 | 9.95 | |
| Softconstraint_type=soft2026.01 | 0.186 | 0.4149 | 6.276 | 98.02 | 0.0371 | 41.7 | 12.45 | |
| Hard (Ours)constraint_type=hard2026.01 | 0.1982 | 0.4544 | 5.823 | 97.7 | 0.0377 | 80.4 | 8.35 | |
| Hybrid A*2026.01 | 0.2505 | 0.6102 | 5.122 | 96.25 | 0.0335 | 94.65 | 4.15 | |
| Informed RRT*2026.01 | 0.2715 | 0.609 | 6.619 | 94.7 | 0.0311 | 62.55 | 23.71 |