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

Figure 6

Error bar graph of error of R-P-LSTM, LSTM, and P-LSTM in three cases. Note: LSTM = Long Short-Term Memory; P-LSTM = LSTM model using penetration rate estimation; and R-P-LSTM = LSTM model using random penetration rate; RMSE = Root Mean Square Error; MRE = Mean Relative Error; and MAE = Mean Absolute Error.