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

Table 9

prediction performance in test set.

Model	instep	RMSE	MAE
BP	5	1.542	1.056
	10	1.531	1.055
	15	1.426	0.995
LSTM	5	0.348	0.313
	10	0.263	0.206
	15	0.226	0.178
GRU	5	0.728	0.543
	10	0.410	0.310
	15	0.346	0.242
Bi-LSTM	5	0.336	0.216
	10	0.226	0.184
	15	0.122	0.156