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

Table 3

The state prediction effect of the Attention-BiLSTM model.

	ID1			ID2			ID3			ID4
	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 = 1 s	7.46	−15.87	7.1	4.61	0.68	11.2	8.68	−10.15	1.1	−14.82	12.47	8
T = 2 s	7.61	−16.02	7.2	4.79	0.47	10.8	9.39	−10.97	1.2	−14.58	12.32	8.3
T = 3 s	7.82	−16.23	6.8	4.92	0.27	10.2	9.43	−11.07	1.8	−14.06	12.29	8.2