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

Table 8

Prediction performance in test set.

Model	instep	RMSE	MAE
BP	5	1.767	1.232
	10	1.568	1.065
	15	1.392	0.957
LSTM	5	0.859	0.636
	10	0.683	0.515
	15	0.485	0.360
GRU	5	0.428	0.326
	10	0.421	0.313
	15	0.417	0.312
Bi-LSTM	5	0.411	0.306
	10	0.289	0.226
	15	0.256	0.192