Research Article

Lane-Level Road Map Construction considering Vehicle Lane-Changing Behavior

Table 3

Comparative analysis of the position accuracy of lane centerlines.

 CGMMKDEProposed WCGMMProposed WCGMM and HMM

Average (m)4.336.523.823.15
Minimum (m)0.010.170.050.01
Maximum (m)8.2512.119.548.32
Standard deviation (m)0.942.570.890.55