Implementation of the Human-Like Lane Changing Driver Model Based on Bi-LSTM

Table 10

8 groups of model optimization control experiment results statistics.

No.	Model	Batch-size	Epochs	Dropout	RMSE	MAE
1	LSTM	32	4000	0.5	0.273	0.240
2	LSTM	32	3000	0.5	0.206	0.171
3	GRU	32	3000	0.5	0.283	0.242
4	Bi-LSTM	32	3000	0.5	0.098	0.068
5	Bi-LSTM	32	4000	0.5	0.114	0.083
6	Bi-LSTM	32	2000	0.5	0.166	0.131
7	Bi-LSTM	64	3000	0.5	0.143	0.114
8	Bi-LSTM	32	3000	0.35	0.112	0.097

Bold shows the set of results with the best prediction effect.