| Element | Missed Instructions | Cov. | Missed Branches | Cov. | Missed | Cxty | Missed | Lines | Missed | Methods | Missed | Classes |
| Total | 3,988 of 5,408 | 26% | 417 of 532 | 22% | 323 | 396 | 752 | 999 | 94 | 130 | 4 | 6 |
| NeighborsPerception | | 0% | | 0% | 95 | 95 | 271 | 271 | 31 | 31 | 1 | 1 |
| InfrastructurePerception | | 0% | | 0% | 60 | 60 | 155 | 155 | 20 | 20 | 1 | 1 |
| IntersectionPerception | | 0% | | 0% | 41 | 41 | 150 | 150 | 9 | 9 | 1 | 1 |
| DefaultSimplePerception | | 71% | | 56% | 91 | 160 | 107 | 348 | 25 | 57 | 0 | 1 |
| IntersectionPerception.LaneInfo | | 0% | | 0% | 36 | 36 | 69 | 69 | 9 | 9 | 1 | 1 |
| LaneBasedAbstractPerceptionCategory | | 100% | n/a | 0 | 4 | 0 | 6 | 0 | 4 | 0 | 1 |