Multistep Prediction of Bus Arrival Time with the Recurrent Neural Network

Table 4

List of arrival times predicted by the seven models.

Network classification	Network model	Predicted arrival time series
Pure RNN	Pure LSTM
	Pure GRU
Multi-input hybrid model	LSTM-BP
	GRU-BP
Stacking models	LSTM-Bi
	LTSM-Stack
Space-time model	ConvLSTM