ResearchBenchmarksTrajectory Planning on Trajectory Planning Evaluation ScenarioTrajectory Planning on Trajectory Planning Evaluation ScenarioFollow4.23Min Safety DistanceDRF-iLQR2.81563.18283.553.9172Nov 28, 2025Evaluation resultsMethodMethodLinksMin Safety DistanceAvg Safety DistanceCollision RateNear-Miss RateTTCminMax Lateral AccelerationAvg JerkCurvature SmoothnessAvg Computation TimePath LengthDRF-iLQR2025.114.237.850803.451.421.189212.332.4MPC2025.113.656.92503202.651.951.857845.231.2RRT*2025.113.126.151205802.152.452.6562125.636.5APF2025.112.875.422508501.822.853.52588.535.8