Short-Term Traffic Speed Prediction Method for Urban Road Sections Based on Wavelet Transform and Gated Recurrent Unit

Table 1

Performance comparison of different models on road section A.

Model	RMSE	MAPE (%)
ARIMA	2.104	9.593
SAEs	1.874	7.721
LSTM	1.946	8.132
GRU	1.860	7.656
W-GRU-ARMA	1.585	6.014