A Novel Intelligent Approach to Lane-Change Behavior Prediction for Intelligent and Connected Vehicles

Table 6

Experimental result of prediction approach.

Metrics
Category	P (%)	R (%)	F1 (%)
Left-lane change	89.36	95.45	92.31
Nonlane change	99.72	99.58	99.65
Right-lane change	90.00	81.82	85.71