notesum.ai
Published at November 26LHPF: Look back the History and Plan for the Future in Autonomous Driving
cs.RO
cs.CV
Released Date: November 26, 2024
Authors: Sheng Wang1, Yao Tian1, Xiaodong Mei1, Ge Sun1, Jie Cheng1, Fulong Ma2, Pedro V. Sander1, Junwei Liang3
Aff.: 1HKUST; 2HKUST(GZ); 3HKUST, HKUST(GZ)

| Type | Planner | Score | Collisions | Drivable | Progress | Comfort | Speed | Direction |
|---|---|---|---|---|---|---|---|---|
| Reactive Results | ||||||||
| Expert | Log-Replay | 81.24 | 86.38 | 98.07 | 98.99 | 99.27 | 96.47 | 99.13 |
| Rule-based | IDM [30] | 79.31 | 90.92 | 94.04 | 86.16 | 94.40 | 97.33 | 99.63 |
| PDM-Closed [14] | 93.20 | 98.67 | 99.63 | 90.48 | 95.50 | 99.83 | 100.00 | |
| Pure Learning | PDM-Open [14] | 54.86 | 81.47 | 87.89 | 69.86 | 99.54 | 97.72 | 97.57 |
| GC-PGP [17] | 54.91 | 84.77 | 89.72 | 57.75 | 90.00 | 99.20 | 98.44 | |
| RasterModel [3] | 64.66 | 87.11 | 83.11 | 79.73 | 85.59 | 98.00 | 96.42 | |
| UrbanDriver [26] | 64.87 | 82.16 | 90.83 | 86.42 | 99.08 | 89.81 | 97.25 | |
| PlanTF [8] | 77.07 | 95.69 | 97.06 | 76.72 | 93.94 | 98.67 | 99.45 | |
| PLUTO (w/o post.) [9] | 78.76 | 97.43 | 97.89 | 75.08 | 96.33 | 98.89 | 99.86 | |
| LHPF† (ours) | 81.25 | 95.82 | 99.63 | 78.59 | 96.42 | 98.60 | 99.45 | |
| Non-reactive Results | ||||||||
| Expert | Log-Replay | 93.68 | 98.76 | 98.07 | 98.99 | 99.27 | 96.47 | 99.13 |
| Rule-based | IDM [30] | 79.31 | 90.92 | 94.04 | 86.16 | 94.40 | 97.33 | 99.63 |
| PDM-Closed [14] | 93.08 | 98.07 | 99.82 | 92.13 | 95.52 | 99.83 | 100.00 | |
| Pure Learning | PDM-Open [14] | 50.24 | 74.54 | 87.89 | 69.86 | 99.54 | 97.72 | 97.57 |
| GC-PGP [17] | 61.09 | 85.87 | 89.72 | 60.32 | 90.00 | 99.34 | 98.67 | |
| RasterModel [3] | 66.92 | 86.97 | 85.04 | 80.60 | 81.46 | 98.03 | 96.42 | |
| UrbanDriver [26] | 67.72 | 85.60 | 90.83 | 80.83 | 100.00 | 91.58 | 98.49 | |
| PlanTF [8] | 85.30 | 94.13 | 96.79 | 89.83 | 93.67 | 97.78 | 98.85 | |
| PLUTO (w/o post.) [9] | 89.04 | 96.18 | 98.53 | 89.56 | 96.41 | 98.13 | 99.49 | |
| LHPF† (ours) | 88.81 | 94.77 | 99.72 | 90.90 | 96.88 | 97.77 | 99.08 | |