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

Table 5

Comparisons of complete trajectory of overtaking vehicle and overtaking trajectory segments.

Data	Model structure	Data structure	Root-mean-square error	Mean absolute error	Mean absolute percentage error
Overtaking whole trajectories	Conv-LSTM-LSTM	(8089, 6, 6)	0.161	0.032	2.393
	Conv-GRU-GRU		0.163	0.035	4.003
Overtaking segments (HDPHMM)	Conv-LSTM-LSTM	(600, 6, 6)	0.073	0.041	1.313
	Conv-GRU-GRU		0.099	0.050	1.790