| 场景1 | |||||
| 起始点 | 航向角 | 场景类型 | MPC | HI-MPC (N' = 50) | ES-MPC |
| (10, 90) | 0˚ | 开放 | √ | √ | √ |
| (20, 40) | 30˚ | 封闭 | × | √ | √ |
| (50, 20) | 60˚ | 封闭 | × | √ | √ |
| (90, 10) | 90˚ | 封闭 | × | × | √ |
| 场景2 | |||||
| 起始点 | 航向角 | 场景类型 | MPC | HI-MPC (N' = 50) | ES-MPC |
| (90, 90) | −90˚ | 开放 | √ | √ | √ |
| (10, 90) | 0˚ | 封闭 | × | × | √ |
| (90, 30) | 90˚ | 封闭 | × | × | √ |