HighD
Benchmarks
| Task Name | Dataset Name | SOTA Result | Trend | |
|---|---|---|---|---|
| Trajectory Prediction | HighD | RMSE0.11 | 64 | |
| Trajectory Prediction | highD | minADE0.04 | 40 | |
| Vehicle Trajectory Prediction | HighD (test) | RMSE0.09 | 25 | |
| Density Reconstruction | HighD | MAE1.44 | 24 | |
| Speed Reconstruction | HighD | MAE0.38 | 24 | |
| Motion Prediction | HighD D2 | Min Average Displacement Error (minADE)0.364 | 18 | |
| Trajectory Prediction | highD | RMSE (1s)0.1 | 18 | |
| Trajectory Prediction | highD | ADE (Avg)0.33 | 16 | |
| Counterfactual explanation generation | highD subsets | y*_T has top rank (%)100 | 15 | |
| Trajectory Planning | highD Unseen Environments | ADE0.94 | 9 | |
| Lane change classification | highD | Inference Time (ms)13.93 | 7 | |
| Lane change classification | highD cross-domain evaluation | Accuracy82.9 | 7 | |
| Autonomous Driving Planning | highD Real-world | Inference Time (s)1.61 | 5 | |
| Route Planning | HighD Case 54_24_3 | f'24 | 5 | |
| Route Planning | HighD Case 47_18_4 | F-Score61 | 5 | |
| Route Planning | HighD Case 43_15_5 | F-Score58 | 5 | |
| Route Planning | HighD Case 35_18_4 | F-Score51 | 5 | |
| Route Planning | HighD Case 30_14_5 | F-Score27 | 5 | |
| Sequence Generation | HighD | NLL11.451 | 4 | |
| Behavior Change Detection | highD manually annotated subset | Precision74.1 | 3 | |
| Safety-critical scenario generation | highD | EGO-ADV Collision Rate69 | 3 | |
| Autonomous driving decision-making | HighD high-risk scenarios | Decision Count45 | 3 | |
| Route Planning | HighD Case 166_72_3 | F-Score78 | 2 | |
| Route Planning | HighD Case 139_53_4 | F-Score188 | 2 | |
| Route Planning | HighD Case 131_42_5 | F-Score144 | 2 |
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