Real-Time Vehicle Trajectory Prediction for Traffic Conflict Detection at Unsignalized Intersections

Table 4

Comparison of prediction algorithms.

Methods	Direction	MAE (axis)	Time (s)
Four-layer LSTM	Going straight	45.784	1.87
	Left turn	42.151	2.02
	Right turn	73.210	1.96
CTRA	Going straight	110.495	3.57
	Left turn	265.614	4.11
	Right turn	246.051	3.96