Table 1 A comparison of RMSE and NLL values obtained using different prediction models.

From: Multi-modality trajectory prediction with the dynamic spatial interaction among vehicles under connected vehicle environment

Evaluation index

Prediction time

V-LSTM

S-LSTM

M-LSTM

CS-LSTM

STA-LSTM

RMSE(m)

1s

0.68

0.65

0.58

0.62

0.46

2s

1.65

1.31

1.26

1.29

1.15

3s

2.91

2.16

2.12

2.09

1.89

4s

4.46

3.35

3.24

3.1

2.84

5s

6.27

4.55

4.66

4.37

4.05

NLL

1s

1.17

1.01

0.56

0.58

0.49

2s

2.85

2.49

2.13

2.14

2.06

3s

3.8

3.36

3.12

3.03

2.92

4s

4.48

4.01

3.71

3.68

3.54

5s

4.99

4.54

4.39

4.23

4.11

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