Dynamic Path Planning of Emergency Vehicles Based on Travel Time Prediction

Table 3

Test errors of the SFLA-KC and the kernel clustering algorithm.

The sample number	Mean absolute error (km/h)		SFLA-KC optimized error reduction	SFLA-KC optimized error reduction rate
	SFLA-KC	Kernel clustering algorithm
1	2.72	4.06	1.34	33%
2	2.64	4.12	1.48	36%
3	2.88	4.24	1.36	32%
4	3.03	4.43	1.4	32%
5	2.18	3.78	1.6	42%
6	1.97	3.59	1.62	45%
7	2.96	4.32	1.36	31%
8	2.58	4.26	1.68	39%
9	2.77	4.19	1.42	34%
10	2.62	4.27	1.65	39%
11	3.12	4.68	1.56	33%
12	2.02	3.88	1.86	48%
13	1.98	3.92	1.94	49%
14	2.89	4.49	1.6	36%
15	2.54	3.98	1.44	36%
16	2.37	4.26	1.89	44%
17	2.79	4.72	1.93	41%
18	2.99	4.63	1.64	35%
19	1.93	3.84	1.91	50%
20	2.21	4.01	1.8	45%
Average	2.56	4.18	1.62	39%