Research Article
Learning-Based Lane-Change Behaviour Detection for Intelligent and Connected Vehicles
Table 8
Experimental results of lane-change detection on selected vehicles.
| ID | Model | Behaviour | P (%) | R (%) | F1 (%) | mACC (%) |
| 3365 | ET | LCL | 91 | 94 | 93 | 97.18 | LK | 98 | 97 | 98 | LCR | 100 | 100 | 100 | RF | LCL | 91 | 94 | 93 | 96.61 | LK | 97 | 97 | 97 | LCR | 100 | 97 | 99 | KNN | LCL | 97 | 97 | 97 | 98.87 | LK | 99 | 99 | 99 | LCR | 100 | 100 | 100 |
| 3362 | ET | LCL | 68 | 89 | 77 | 84.35 | LK | 89 | 84 | 86 | LCR | 88 | 82 | 85 | RF | LCL | 71 | 89 | 79 | 86.09 | LK | 91 | 85 | 88 | LCR | 89 | 86 | 87 | KNN | LCL | 76 | 100 | 86 | 89.57 | LK | 97 | 85 | 91 | LCR | 87 | 93 | 90 |
| 2826 | ET | LCL | 89 | 89 | 89 | 94.12 | LK | 94 | 97 | 96 | LCR | 100 | 86 | 92 | RF | LCL | 80 | 89 | 84 | 90.20 | LK | 92 | 94 | 93 | LCR | 100 | 71 | 83 | KNN | LCL | 89 | 89 | 89 | 96.08 | LK | 97 | 97 | 97 | LCR | 100 | 100 | 100 |
| 2804 | ET | LCL | 73 | 80 | 76 | 93.33 | LK | 97 | 94 | 96 | LCR | 90 | 100 | 95 | RF | LCL | 89 | 80 | 84 | 94.44 | LK | 97 | 96 | 96 | LCR | 82 | 100 | 90 | KNN | LCL | 90 | 90 | 90 | 95.55 | LK | 97 | 97 | 97 | LCR | 89 | 89 | 89 |
| 2795 | ET | LCL-2 | 91 | 100 | 95 | 94.36 | LCL-1 | 67 | 77 | 71 | LK | 99 | 95 | 97 | LCR-1 | 81 | 100 | 90 | LCR-2 | 100 | 83 | 91 | RF | LCL-2 | 91 | 100 | 95 | 96.41 | LCL-1 | 91 | 77 | 83 | LK | 99 | 98 | 98 | LCR-1 | 81 | 100 | 90 | LCR-2 | 100 | 83 | 91 | KNN | LCL-2 | 100 | 100 | 100 | 98.46 | LCL-1 | 100 | 77 | 87 | LK | 98 | 100 | 99 | LCR-1 | 100 | 100 | 100 | LCR-2 | 100 | 100 | 100 |
| 2782 | ET | LCL | 100 | 98 | 99 | 99.03 | LK | 99 | 100 | 99 | LCR | 100 | 95 | 97 | RF | LCL | 100 | 98 | 99 | 98.71 | LK | 98 | 100 | 99 | LCR | 100 | 92 | 96 | KNN | LCL | 100 | 98 | 99 | 99.68 | LK | 100 | 100 | 100 | LCR | 100 | 100 | 100 |
| 2778 | ET | LCL | 96 | 100 | 98 | 98.01 | LK | 100 | 97 | 99 | LCR | 88 | 100 | 94 | RF | LCL | 96 | 100 | 98 | 98.01 | LK | 100 | 97 | 99 | LCR | 88 | 100 | 94 | KNN | LCL | 100 | 100 | 100 | 99.00 | LK | 99 | 100 | 99 | LCR | 100 | 91 | 95 | 3363 | ET | LCL | 87 | 77 | 82 | 87.07 | LK | 87 | 90 | 89 | LCR | 86 | 89 | 88 | RF | LCL | 90 | 74 | 81 | 86.39 | LK | 86 | 90 | 88 | LCR | 83 | 89 | 86 | KNN | LCL | 96 | 77 | 86 | 91.16 | LK | 90 | 95 | 92 | LCR | 90 | 96 | 93 |
| 3063 | ET | LCL | 50 | 33 | 40 | 83.33 | LK | 84 | 96 | 90 | LCR | 100 | 40 | 57 | RF | LCL | 50 | 33 | 40 | 86.11 | LK | 87 | 96 | 92 | LCR | 100 | 60 | 75 | KNN | LCL | 100 | 67 | 80 | 97.22 | LK | 97 | 100 | 98 | LCR | 100 | 100 | 100 |
| 2791 | ET | LCL | 100 | 77 | 87 | 88.89 | LK | 82 | 98 | 89 | LCR | 95 | 87 | 91 | RF | LCL | 100 | 84 | 91 | 89.90 | LK | 84 | 97 | 90 | LCR | 93 | 84 | 88 | KNN | LCL | 96 | 85 | 91 | 92.42 | LK | 89 | 96 | 92 | LCR | 96 | 96 | 96 |
| 2800 | ET | LCL | 88 | 93 | 90 | 88.00 | LK | 94 | 85 | 90 | LCR | 72 | 90 | 80 | RF | LCL | 91 | 97 | 94 | 92.00 | LK | 96 | 91 | 93 | LCR | 82 | 90 | 86 | KNN | LCL | 97 | 97 | 97 | 95.20 | LK | 97 | 95 | 96 | LCR | 86 | 95 | 90 |
| 2825 | ET | LCL-2 | 50 | 100 | 67 | 90.91 | LCL-1 | 50 | 67 | 57 | LK | 100 | 91 | 95 | LCR-1 | 67 | 100 | 80 | LCR-2 | 100 | 100 | 100 | RF | LCL-2 | 50 | 100 | 67 | 90.91 | LCL-1 | 67 | 67 | 67 | LK | 100 | 94 | 97 | LCR-1 | 50 | 50 | 50 | LCR-2 | 83 | 100 | 91 | KNN | LCL-2 | 100 | 100 | 100 | 95.45 | LCL-1 | 100 | 100 | 100 | LK | 100 | 97 | 98 | LCR-1 | 50 | 100 | 67 | LCR-2 | 100 | 80 | 89 |
| 2779 | ET | LCL | 98 | 100 | 99 | 99.50 | LK | 100 | 99 | 100 | LCR | 100 | 100 | 100 | RF | LCL | 98 | 100 | 99 | 99.50 | LK | 100 | 99 | 100 | LCR | 100 | 100 | 100 | KNN | LCL | 100 | 100 | 100 | 100 | LK | 100 | 100 | 100 | LCR | 100 | 100 | 100 |
| 2774 | ET | LCL | 91 | 91 | 91 | 94.52 | LK | 96 | 96 | 96 | LCR | 94 | 94 | 94 | RF | LCL | 95 | 91 | 93 | 95.21 | LK | 96 | 97 | 96 | LCR | 94 | 94 | 94 | KNN | LCL | 100 | 100 | 100 | 97.26 | LK | 98 | 98 | 98 | LCR | 94 | 94 | 94 |
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