Safety-critical traffic generation inference efficiency on 100 scenes
1.35Total Generation Time (h)RiskFlow
Evaluation Results
| Method | Links | |||
|---|---|---|---|---|
| RiskFlowK (Controllable agents)=5, T (Planning interval)=0.5s, Hardware=NVIDIA RTX 4090 GPU, Number of scenes=1002026.06 | 1.35 | 48.6 | 1 | |
| CTGK (Controllable agents)=5, T (Planning interval)=0.5s, Hardware=NVIDIA RTX 4090 GPU, Number of scenes=1002026.06 | 2.77 | 1.66 | 2.05 | |
| CCDiffK (Controllable agents)=5, T (Planning interval)=0.5s, Hardware=NVIDIA RTX 4090 GPU, Number of scenes=1002026.06 | 6.25 | 3.75 | 4.63 | |
| CTG++K (Controllable agents)=5, T (Planning interval)=0.5s, Hardware=NVIDIA RTX 4090 GPU, Number of scenes=1002026.06 | 30.27 | 18.16 | 22.42 |