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

Table 3

Comparison of prediction results under medium adhesion coefficient.

Model	RMSE	MAE
DNN	0.029	0.025
CNN	0.014	0.012
ConvLSTM	0.018	0.016
SA-CNN-LSTM	0.010	0.009
Improved SA-CNN-LSTM	0.008	0.007