A Deep Learning Based Traffic State Estimation Method for Mixed Traffic Flow Environment

Figure 5

RMSE comparison of estimation results of various models under different penetration rates. Note: LSTM = Long Short-Term Memory; ACC-P-LSTM = LSTM model using KNN filling with fusion acceleration and penetration rate estimation; P-LSTM = LSTM model using penetration rate estimation; ACC-LSTM = LSTM model using KNN filling with fusion acceleration; ACC-KF = Kalman Filtering using KNN filling with fusion acceleration; KF = Kalman Filtering; and RMSE = Root Mean Square Error.