Research on the Prediction of the Operational Risk Field of Intelligent Vehicles Based on Dual Multiline LiDAR

Table 1

The prediction effect of each model.

Prediction model	Iterations	Global position X	Global position Y	Relative speed
FC	500	0.0553	0.0480	0.0431
LSTM	500	0.0349	0.0294	0.0287
BiLSTM	500	0.0208	0.0210	0.0228
Attention-BiLSTM (no multiview point cloud)	500	0.0124	0.0139	0.0183
Attention-BiLSTM	500	0.0095	0.0083	0.0053