Dataset

Horizon (s)

S-LSTM

CS-LSTM

NLS-LSTM

S-LSTM

PiP

DLM

Ours

NGSIM

1

0.65

0.61

0.56

0.57

0.55

0.41

0.41

2

1.31

1.27

1.22

1.32

1.18

0.95

1

3

2.16

2.09

2.02

2.22

1.94

1.72

1.7

4

3.25

3.1

3.03

3.26

2.88

2.64

2.57

5

4.55

4.37

4.3

4.4

4.04

3.87

3.68