ResearchBenchmarksRoute Planning on HighD Case 47_18_4Follow61F-ScoreGSAC_IDM23.5633.284352.72Mar 26, 2026Evaluation ResultsMethodMethodLinksF-ScoreTotal Planning Time (s)Collision Rate (%)GSAC_IDM2026.03610.016CRHA_1values reported=best/m...values reported=best/mean/worst2026.03322.150CRHA_2values reported=best/m...values reported=best/mean/worst2026.03311.190CRHAvalues reported=best/m...values reported=best/mean/worst2026.03282.460SDVC2026.03250.0430