Car-Following Model with Automatic Reaction Delay Estimation: An Attention-Based Ensemble Learning Methodology

Table 1

Previous studies.

Researchers	Architecture	Data resolution (Hz)	Input variables	Historical time/time step	Output variables	Prediction horizons/time step
Panwai and Dia	ANN	10		1(0.1 s)		1(0.1 s)
Zhou et al.	RNN	10		1(0.1 s)		1(0.1 s)
Huang et al.	LSTM	10		50(5.0 s)		1(0.1 s)
Fie et al.	GRU	1		10(10 s)		1(1 s)
Ma and Qu	Seq2seq	10		50(5.0 s)		12(1.2 s)

Note. is the space headway (from the leading vehicle’s front bumper to the subject vehicle’s front bumper). is the gap distance (from the leading vehicle’s rear bumper to the subject vehicle’s front bumper). is the relative speed difference between the subject vehicle n and the leading vehicle (n − 1). and are the speed of the subject vehicle (n) and the leading vehicle (n − 1). is the acceleration of the subject vehicle (n).