Safety Parameter Estimation on 7-vehicle roundabout scenario 95% lowest MSE trials
0.0023Average MSECI-enabled Parametric CBF
Evaluation results
| Method | Links | ||
|---|---|---|---|
| CI-enabled Parametric CBFCMS=true2026.06 | 0.0023 | 0.0041 | |
| NBFCMS=true2026.06 | 0.1678 | 0.1477 | |
| Parametric-CBF2026.06 | 0.3454 | 0.1893 | |
| NBFCMS=false2026.06 | 0.5531 | 0.2481 |