Estimation of Driver Lane Change Intention Based on the LSTM and Dempster–Shafer Evidence Theory

Table 3

Part of the test results.

Real intention	Output of LSTM	Output of DS	Decision results
LCL	[0.9223, 0.0423, 0.0295]	[1, 0, 0]	LCL
	[0.9043, 0.0299, 0.0435]
	[0.9148, 0.0395, 0.0457]
	[0.9245, 0.0382, 0.0298]
	[0.9127, 0.0467, 0.0395]
	[0.9119, 0.0397, 0.0484]
	[0.9565, 0.0458, 0.0295]
LCR	[0.0373, 0.9533, 0.0203]	[0, 1, 0]	LCR
	[0.0265, 0.9144, 0.0587]
	[0.0229, 0.9236, 0.0439]
	[0.0174, 0.9502, 0.0324]
	[0.0225, 0.9443, 0.0336]
LK	[0.0342, 0.0175, 0.9483]	[0, 0, 1]	LK
	[0.0463, 0.0224, 0.9313]
	[0.0337, 0.0276, 0.9387]