ResearchBenchmarksRoute Planning on HighD Case 43_15_5Follow58F-ScoreGSAC_IDM25.7634.1342.550.87Mar 26, 2026Evaluation ResultsMethodMethodLinksF-ScoreTotal Planning Time (s)Collision Rate (%)GSAC_IDM2026.03580.010SDVC2026.03280.0360CRHA_1values reported=best/m...values reported=best/mean/worst2026.03281.380CRHA_2values reported=best/m...values reported=best/mean/worst2026.03280.820CRHAvalues reported=best/m...values reported=best/mean/worst2026.03272.040