Dynamic Bus Travel Time Prediction Models on Road with Multiple Bus Routes

Table 3

Comparison of prediction errors for five models.

	Road segment 1			Road segment 2			Road segment 3
	MAE	MAPE	RMSE	MAE	MAPE	RMSE	MAE	MAPE	RMSE
ANN	55.55	10.52	74.89	49.31	17.60	63.14	25.64	12.70	33.25
SVM	53.70	10.24	71.43	47.33	16.73	60.55	24.79	11.91	32.65
Kalman	54.33	10.68	75.39	48.82	17.98	60.59	25.68	13.06	32.97
ANN-Kalman	22.72	4.34	30.30	19.45	6.96	25.25	10.51	5.10	14.34
SVM-Kalman	22.66	4.33	30.17	19.44	6.82	25.37	9.40	4.46	12.60

MAE and RMSE are in units of second (s) and MAPE is in units of percentage (%).