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

Table 4

Comparison of prediction results under high adhesion coefficient.

Model	RMSE	MAE
DNN	0.037	0.031
CNN	0.018	0.016
ConvLSTM	0.026	0.012
SA-CNN-LSTM	0.013	0.010
Improved SA-CNN-LSTM	0.010	0.009