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TableĀ 2 The RMSE assessment of the five prediction models (m/s)

From: Combined Prediction for Vehicle Speed with Fixed Route

RMSE BP Markov MBNN1 MBNN2 MBNN3
Speed 1 1 s 0.7749 0.6360 0.6988 0.6449 0.6513
2 s 1.2176 1.0069 1.0007 0.8880 0.9096
3 s 1.6094 1.3927 1.2758 1.1093 1.1287
4 s 1.9981 1.8147 1.5356 1.3260 1.3337
5 s 2.3775 2.2123 1.7880 1.5420 1.5366
Speed 2 1 s 0.8198 0.6989 0.6939 0.6680 0.6524
2 s 1.3068 1.0152 0.9849 0.9068 0.8888
3 s 1.7284 1.3613 1.2417 1.1173 1.0913
4 s 2.1424 1.7272 1.4735 1.3196 1.2920
5 s 2.5346 2.0335 1.6884 1.5132 1.4851
Speed 3 1 s 0.6961 0.6330 0.6116 0.5758 0.5872
2 s 1.0943 0.9044 0.8626 0.7863 0.7979
3 s 1.4581 1.2219 1.0866 0.9743 0.9884
4 s 1.8283 1.5621 1.3005 1.1610 1.1769
5 s 2.1861 1.8848 1.5055 1.3450 1.3593