Vehicle Trajectory Prediction by Knowledge-Driven LSTM Network in Urban Environments

Table 2

RMSE comparison of the proposed method with the baseline models and state-of-the-art model.

Prediction horizon (s)	M-LSTM [20]	CS-LSTM [22]	NLS-LSTM [35]	ST-LSTM [23]	DLM [24]	Proposed method
1	0.58	0.61	0.56	0.58	0.41	0.41
2	1.26	1.27	1.22	1.21	0.95	0.89
3	2.12	2.09	2.02	1.97	1.72	1.64
4	3.24	3.10	3.03	2.85	2.64	2.47
5	4.66	4.37	4.30	3.89	3.87	3.68