Urban Link Travel Time Estimation Based on Low Frequency Probe Vehicle Data

Table 2

Performance measurements of the three methods.

Sampling interval (s)	Proposed method		ANN method		Spatiotemporal moving average method
	MAE (s)	RMSE (s)	MAE (s)	RMSE (s)	MAE (s)	RMSE (s)
30	4.96	5.88	6.68	8.24	8.04	10.46
60	6.05	7.37	8.30	9.93	15.56	18.15
90	6.56	8.03	10.14	12.57	16.65	19.65
120	7.28	8.96	10.68	12.84	17.38	20.27