Ramp-merging on 10,000 simulated ramp-merging scenarios v1 (test)
100Safety RateRobust MPC
Evaluation results
| Method | Links | |||||||
|---|---|---|---|---|---|---|---|---|
| Robust MPCAveraged Computation time (s)=0.047 ± 0.0052025.12 | 100 | — | 1 | — | — | — | — | |
| Non-reactive branch MPCAveraged Computation time (s)=0.324 ± 0.0202025.12 | 100 | — | 4.6 | — | — | — | — | |
| Reactive branch MPCAveraged Computation time (s)=0.431 ± 0.1152025.12 | 100 | — | 24.6 | — | — | — | — | |
| Explicit dual MPCAveraged Computation time (s)=0.434 ± 0.1162025.12 | 100 | — | 47.3 | — | — | — | — | |
| Implicit dual MPCAveraged Computation time (s)=1.148 ± 0.1482025.12 | 100 | — | 43 | — | — | — | — | |
| Situation-Aware Switching ControllerAveraged Computation time (s)=0.313 ± 0.2792025.12 | 100 | — | 44.8 | — | — | — | — |