ResearchBenchmarksRoute Planning on HighD Case 35_18_4Follow51F-ScoreGSAC_IDM23.9630.983845.02Mar 26, 2026Evaluation ResultsMethodMethodLinksF-ScoreTotal Planning Time (s)Collision RateGSAC_IDM2026.03510.010CRHAvalues reported=best/m...values reported=best/mean/worst2026.03271.240SDVC2026.03250.0460CRHA_1values reported=best/m...values reported=best/mean/worst2026.03250.920CRHA_2values reported=best/m...values reported=best/mean/worst2026.03250.580