An MEC Architecture-Oriented Improved RRT Algorithm for Regional Trajectory Planning

Table 5

Parameter comparison.

Time point	Real hazard value	Predicted hazard value (BP)	Predicted hazard value (linear)	Predicted hazard value (LSTM)	Relative prediction error (%) BP	Relative prediction error (%) linear	Relative prediction error (%) LSTM
42	1.92	2.15	2.57	2.10	11.98	33.85	9.38
43	2.24	2.04	2.64	1.92	−8.93	17.86	−14.29
44	2.01	1.94	2.7	1.79	−3.48	34.33	−10.95
45	1.95	1.85	2.77	1.70	−5.13	42.05	−12.82
46	1.73	1.78	2.83	1.64	2.89	63.58	−5.20
Avg.					6.482	38.33	10.528