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

Table 6

Comparison of prediction under the condition of decreasing adhesion coefficient.

Model	RMSE	MAE
DNN	0.040	0.033
CNN	0.025	0.019
ConvLSTM	0.031	0.027
SA-CNN-LSTM	0.023	0.015
Improved SA-CNN-LSTM	0.018	0.013