..., for mobile robots to address the problem of estimating the required driving torque with unknown terrain disturbances. Design/methodology/approach An error compensation (EC) framework is used, and the preliminary prediction driving torque value is achieved using Gaussian process regression (GPR...

...; then, according to the estimation results of the DCIE model, a classified Gaussian process model is established for probabilistic vehicle trajectory prediction under different motion patterns. Findings The whole method is later applied and analyzed in the highway lane-change scenarios with the parameters...