Table 3.

Comparison of trajectory prediction errors in Scenario 1.

Errors	LSTM	SVM	SSA-BP	Sine-SSA-BP
MSE	$7.2572\times {10}^{-6}$	$2.6353\times {10}^{-5}$	$1.6558\times {10}^{-6}$	$2.0230\times {10}^{-7}$
RMSE	$2.6939\times {10}^{-3}$	$5.1336\times {10}^{-3}$	$1.2868\times {10}^{-3}$	$4.4978\times {10}^{-4}$
MAE	$2.1866\times {10}^{-3}$	$3.9472\times {10}^{-3}$	$9.5750\times {10}^{-4}$	$3.5015\times {10}^{-4}$
MAPE	$4.8733\times {10}^{-5}$	$6.1663\times {10}^{-5}$	$1.0241\times {10}^{-5}$	$6.6560\times {10}^{-6}$