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

Table 5

Comparison of prediction under the condition of increasing adhesion coefficient.

Model	RMSE	MAE
DNN	0.048	0.035
CNN	0.026	0.018
ConvLSTM	0.029	0.023
SA-CNN-LSTM	0.021	0.014
Improved SA-CNN-LSTM	0.017	0.011