Extracting Overtaking Segments by Unsupervised Clustering and Predicting Nonmotorized Vehicle’s Trajectory

Table 3

Comparison of different types of input.

Data	Model structure	Data structure	Root-mean-square error	Mean absolute error	Mean absolute percentage error
Overtaking vehicle	Conv-LSTM-LSTM	(8089, 6, 6)	0.161	0.032	2.393
	Conv-GRU-GRU		0.163	0.035	4.003
Overtaken vehicle	Conv-LSTM-LSTM	(7127, 6, 6)	0.299	0.045	2.418
	Conv-GRU-GRU		0.260	0.046	2.216
Others	Conv-LSTM-LSTM	(13572, 6, 6)	0.195	0.044	2.503
	Conv-GRU-GRU		0.187	0.043	3.871