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

Figure 7

Comparison of traffic state estimation of various models under different penetration rates (the accuracy is recorded in the brackets of the subgraphs). Note: LSTM = Long Short-Term Memory; KF = Kalman Filtering; 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; and ACC-KF = Kalman Filtering using KNN filling with fusion acceleration.