Research Article
Lane-Level Vehicle Trajectory Reckoning for Cooperative Vehicle-Infrastructure System
Table 5
Trajectory reckoning results.
| Event | Number of trials | MAE of x (vehicle heading, m) | MAE of y (lane heading, m) |
| Lane change | 13 | 0.56 | 0.27 | Turning | 5 | 0.03 | 0.58 |
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