ResearchBenchmarksTrajectory Optimization on NGSIMTrajectory Optimization on NGSIMFollow5.5Spatial Mean Error (m)Batch-MPC5.43925.84966.266.6704Sep 16, 2024Evaluation resultsMethodMethodLinksSpatial Mean Error (m)EMAE (m/s)Max Jerk X (m/s^3)Max Jerk Y (m/s^3)Max Acceleration X (m/s^2)Max Acceleration Y (m/s^2)Max Angular Rate (rad/s)Optimal Time (ms)Batch-MPC2024.095.50.16012.883817.34280.18740.41090.013948.87BPHTO2024.096.730.1242.78892.8450.20560.54020.037773.76CPTO2024.097.020.04932.13612.72150.19280.59030.009875.41