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

Table 6

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
12	1.31	1.38	1.61	1.47	5.34	22.90	12.21
13	1.23	1.31	1.49	1.40	6.50	21.14	13.82
14	1.07	1.25	1.46	1.35	16.82	36.45	26.17
15	1.12	1.19	1.44	1.30	6.25	28.57	16.07
16	2.8	1.13	1.41	1.26	−59.64	49.64	−55.0
17	2.88	2.67	1.7	2.34	−7.29	40.97	−18.75
18	2.00	2.53	1.74	2.24	26.50	13.00	12.0
19	2.12	2.41	1.78	2.13	13.68	16.04	0.47
20	2.69	2.29	1.82	2.06	−14.87	32.34	−23.42
21	2.75	2.17	1.86	1.96	−21.09	32.36	29.82
Avg.					17.798	29.341	20.773