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

Table 2

Performance comparison of different models on road section B.

Model	RMSE	MAPE (%)
ARIMA	2.220	8.799
SAEs	1.376	6.077
LSTM	1.367	6.398
GRU	1.582	7.636
W-GRU-ARMA	1.361	5.459