Safety Parameter Estimation on 7-vehicle roundabout scenario all 200 trials
0.3267Average MSECI-enabled Parametric CBF
Evaluation results
| Method | Links | ||
|---|---|---|---|
| CI-enabled Parametric CBFCMS=true2026.06 | 0.3267 | 3.1323 | |
| Parametric-CBF2026.06 | 0.3692 | 0.2121 | |
| NBFCMS=false2026.06 | 0.5832 | 0.2754 | |
| NBFCMS=true2026.06 | 0.6905 | 3.7423 |