Research Article

Driver Lane-Changing Behavior Prediction Based on Deep Learning

Algorithm 1

10-fold cross-validation method.
ā€‰Input: training set and validation set
ā€‰Output: classification results
(1)The entire dataset is randomly divided into 10 parts
(2)Use one of 10 parts as a test set and the other 9 as a training set, and loop beginning at this step
(3)Train the model with 9 training sets and record the relevant data
(4)Test the model with the test set and record the relevant data
(5)Return to 2, select new test set and training set, the sets must differ from the previous ones, and repeat this process until all 10 parts are used as a test set, and the loop ends
(6)Compare the real value and prediction value and calculate the prediction accuracy of each training and validation step
(7)Model training/verification complete