Freeway Traffic Speed Prediction under the Intelligent Driving Environment: A Deep Learning Approach

Table 1

Performance comparison of different models.

Model	MAE	MAPE (%)	MSE	RMSE	R^2
GRU	1.352	3.410	4.496	2.120	0.987
SAEs	1.398	3.478	4.950	2.225	0.985
IDM	2.486	5.240	8.896	2.983	0.986