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

Table 2

The historical time-series data of the target vehicle state input into the Attention-BiLSTM model.

	ID1 (L = 8.5 m,  = 3.0 m)			ID2 (L = 5.5 m,  = 2.4 m)			ID3 (L = 4.5 m,  = 2.0 m)			ID4 (L = 5.0 m,  = 2.2 m)
	X (m)	Y (m)	(m/s)	X (m)	Y (m)	(m/s)	X (m)	Y (m)	(m/s)	X (m)	Y (m)	(m/s)
T = −4 s	6.85	−14.95	6.8	3.36	2.26	12.0	8.20	−9.67	2.5	−15.57	13.66	7.4
T = −3 s	7.14	−15.29	6.8	3.85	1.59	12.1	9.13	−10.65	2.8	−15.28	13.27	7.5
T = −2 s	7.03	−15.34	6.8	4.06	1.36	11.8	8.48	−9.94	2.3	−15.23	13.02	7.4
T = −1 s	7.28	−15.62	7	4.26	1.16	11.6	8.35	−10.02	1.8	−15.03	12.90	7.6
T = 0 s	7.32	−15.68	6.9	4.45	0.90	11.5	8.54	−10.15	1.4	−14.96	12.64	8