ResearchBenchmarksRoute Planning on HighD Case 30_14_5Follow27F-ScoreGSAC_IDM12.4416.222023.78Mar 26, 2026Evaluation ResultsMethodMethodLinksF-ScoreTotal Planning Time (s)Collision Rate (%)GSAC_IDM2026.03270.010SDVC2026.03160.0360CRHAvalues reported=best/m...values reported=best/mean/worst2026.03131.070CRHA_1values reported=best/m...values reported=best/mean/worst2026.03130.520CRHA_2values reported=best/m...values reported=best/mean/worst2026.03130.490