Road Adhesion Coefficient Estimation Based on Vehicle-Road Coordination and Deep Learning

Table 2

Comparison of prediction results under low adhesion coefficient.

Model	RMSE	MAE
DNN	0.034	0.029
CNN	0.017	0.015
ConvLSTM	0.025	0.021
SA-CNN-LSTM	0.012	0.010
Improved SA-CNN-LSTM	0.009	0.008