Abstract
Accurate travel time prediction allows passengers to schedule their journeys efficiently. However, cyclical factors (time intervals of the day, weather conditions, and holidays), unpredictable factors (incidents, abnormal weather), and other complicated factors (dynamic traffic conditions, dwell times, and variation in travel demand) make accurate bus travel time prediction complicated. This paper aims to achieve accurate travel time prediction. To do so, we propose a clustering method that identifies travel time paradigms of different route links and clusters them based on their similarity using the nonnegative matrix factorization algorithm. Additionally, we propose a deep learning model based on CNN with spatial–temporal attention and gating mechanisms to select the most relevant features and capture their dependencies and correlations. For each defined cluster, we train a separate model to predict the travel time at various time intervals over the day. As a result, the travel times of all journey links from related prediction models are aggregated to predict the total journey time. Extensive experiments using data collected from four different bus lines in Beijing show that our method outperforms the compared baselines.










Similar content being viewed by others
Explore related subjects
Discover the latest articles, news and stories from top researchers in related subjects.Data availability
The data for bus line 4A in Copenhagen are publicly available at: https://github.com/niklascp/bus-arrival-convlstm.. The data for bus lines 1, 2, 3, and 4 were collected by Beijing Public Transport Group and are available from the corresponding author upon reasonable request and with Beijing Public Transport Group’s permission.
References
Liu H, Xu H, Yan Y, Cai Z, Sun T, Li W (2020) Bus arrival time prediction based on LSTM and spatial-temporal feature vector. IEEE Access 8:11917–11929. https://doi.org/10.1109/ACCESS.2020.2965094
He P, Jiang G, Lam SK, Sun Y (2020) Learning heterogeneous traffic patterns for travel time prediction of bus journeys. Inf Sci 512:1394–1406. https://doi.org/10.1016/j.ins.2019.10.073
Coffey C, Pozdnoukhov A, Calabrese F (2011) Time of arrival predictability horizons for public bus routes. In: Proceedings of the 4th ACM SIGSPATIAL international workshop on computational transportation science, pp 1–5
Sinn M, Yoon JW, Calabrese F, Bouillet E (2012) Predicting arrival times of buses using real-time gps measurements. In: 2012 15th international IEEE conference on intelligent transportation systems, IEEE, pp 1227–1232
As M, Mine T, Yamaguchi T (2020) Prediction of bus travel time over unstable intervals between two adjacent bus stops. Int J Intell Transp Syst Res 18(1):53–64. https://doi.org/10.1007/s13177-018-0169-3
Pang J, Huang J, Du Y, Yu H, Huang Q, Yin B (2018) Learning to predict bus arrival time from heterogeneous measurements via recurrent neural network. IEEE Trans Intell Transp Syst 20(9):3283–3293
Han Q, Liu K, Zeng L, He G, Ye L, Li F (2020) A bus arrival time prediction method based on position calibration and LSTM. IEEE Access 8:42372–42383. https://doi.org/10.1109/ACCESS.2020.2976574
Comi A, Polimeni A (2020) Bus travel time: experimental evidence and forecasting. Forecasting 2(3):309–322. https://doi.org/10.3390/forecast2030017
Thomas T, Weijermars W, Van Berkum E (2009) Predictions of urban volumes in single time series. IEEE Trans Intell Transp Syst 11(1):71–80
Chang H, Park D, Lee S, Lee H, Baek S (2010) Dynamic multi-interval bus travel time prediction using bus transit data. Transportmetrica 6(1):19–38
Yu B, Wang H, Shan W, Yao B (2018) Prediction of bus travel time using random forests based on near neighbors. Comput Aided Civ Infrastruct Eng 33(4):333–350
Yao B, Chen C, Zhang L, Feng T, Yu B, Wang Y (2019) Allocation method for transit lines considering the user equilibrium for operators. Transp Res Part C Emerg Technol 105:666–682
Gal A, Mandelbaum A, Schnitzler F, Senderovich A, Weidlich M (2017) Traveling time prediction in scheduled transportation with journey segments. Inf Syst 64:266–280
Wang W, Liu J, Yao B, Jiang Y, Wang Y, Yu B (2019) A data-driven hybrid control framework to improve transit performance. Transp Res Part C Emerg Technol 107:387–410
Chen C, Wang H, Yuan F, Jia H, Yao B (2020) Bus travel time prediction based on deep belief network with back-propagation. Neural Comput Appl 32(14):10435–10449. https://doi.org/10.1007/s00521-019-04579-x
Zhai H, Cui L, Zhang W, Xu X, Tian R (2020) An improved deep spatial-temporal hybrid model for bus speed prediction. Math Probl Eng. https://doi.org/10.1155/2020/2143921
Dhivya Bharathi B, Anil Kumar B, Achar A, Vanajakshi L (2020) Bus travel time prediction: a log-normal auto-regressive (AR) modelling approach. Transp Transp Sci 16(3):807–839. https://doi.org/10.1080/23249935.2020.1720864arXiv:1904.03444
Vanajakshi L, Rilett LR (2007) Support vector machine technique for the short term prediction of travel time. In: 2007 IEEE intelligent vehicles symposium, IEEE, pp 600–605
Rice J, Van Zwet E (2004) A simple and effective method for predicting travel times on freeways. IEEE Trans Intell Transp Syst 5(3):200–207
Yang M, Liu Y, You Z (2009) The reliability of travel time forecasting. IEEE Trans Intell Transp Syst 11(1):162–171
Guin A (2006) Travel time prediction using a seasonal autoregressive integrated moving average time series model. In: 2006 IEEE intelligent transportation systems conference, IEEE, pp 493–498
Liu H, Van Lint H, Van Zuylen H, Zhang K (2006) Two distinct ways of using kalman filters to predict urban arterial travel time. In: 2006 IEEE intelligent transportation systems conference, IEEE, pp 845–850
Van Lint J (2006) Incremental and online learning through extended kalman filtering with constraint weights for freeway travel time prediction. In: 2006 IEEE intelligent transportation systems conference, IEEE, pp 1041–1046
Yu B, Ye T, Tian X-M, Ning G-B, Zhong S-Q (2014) Bus travel-time prediction with a forgetting factor. J Comput Civ Eng 28(3):06014002
Mazloumi E, Currie G, Rose G (2010) Using traffic flow data to predict bus travel time variability through an enhanced artificial neural network. In: World congress on transport research, 12th, 2010, Lisbon, Portugal
Chen M, Liu X, Xia J, Chien SI (2004) A dynamic bus-arrival time prediction model based on APC data. Comput Aided Civ Infrastruct Eng 19(5):364–376
Yu B, Yang Z-Z, Chen K, Yu B (2010) Hybrid model for prediction of bus arrival times at next station. J Adv Transp 44(3):193–204
Chen C-H (2018) An arrival time prediction method for bus system. IEEE Internet Things J 5(5):4231–4232
Zhang J, Gu J, Guan L, Zhang S (2017) Method of predicting bus arrival time based on mapreduce combining clustering with neural network. In: 2017 IEEE 2nd international conference on big data analysis (ICBDA), IEEE, pp 296–302
Yang H-F, Dillon TS, Chen Y-PP (2016) Optimized structure of the traffic flow forecasting model with a deep learning approach. IEEE Trans Neural Netw Learn Syst 28(10):2371–2381
Zheng L, Zhu C, Zhu N, He T, Dong N, Huang H (2018) Feature selection-based approach for urban short-term travel speed prediction. IET Intell Transp Syst 12(6):474–484
Sun F, Pan Y, White J, Dubey A (2016) Real-time and predictive analytics for smart public transportation decision support system. In: 2016 IEEE international conference on smart computing (SMARTCOMP), IEEE, pp 1–8
Liu D, Sun J, Wang S (2020) BusTime: which is the right prediction model for my bus arrival time?. In: 2020 5th IEEE international conference on big data analytics, ICBDA 2020, pp 180–185. https://doi.org/10.1109/ICBDA49040.2020.9101265, arXiv:2003.10373
Shalaby A, Farhan A (2004) Prediction model of bus arrival and departure times using AVL and APC data. J Public Transp 7(1):3
Lin C-J (2007) Projected gradient methods for nonnegative matrix factorization. Neural Comput 19(10):2756–2779
Deng D, Shahabi C, Demiryurek U, Zhu L (2017) Situation aware multi-task learning for traffic prediction. In: 2017 IEEE international conference on data mining (ICDM), IEEE, pp 81–90
Xu W, Liu X, Gong Y (2003) Document clustering based on non-negative matrix factorization. In: Proceedings of the 26th annual international ACM SIGIR conference on research and development in informaion retrieval, pp 267–273
Clevert D-A, Unterthiner T, Hochreiter S (2015) Fast and accurate deep network learning by exponential linear units (elus). arXiv preprint arXiv:1511.07289
Savarese P, Figueiredo D (2017) Residual gates: a simple mechanism for improved network optimization. In: Proc. international conference on learning representations
Tan K, Chen J, Wang D (2018) Gated residual networks with dilated convolutions for supervised speech separation. In: 2018 IEEE international conference on acoustics, speech and signal processing (ICASSP), IEEE, pp 21–25
Dauphin YN, Fan A, Auli M, Grangier D (2017) Language modeling with gated convolutional networks. In: International conference on machine learning, PMLR, pp 933–941
Ba JL, Kiros JR, Hinton GE (2016) Layer normalization. arXiv preprint arXiv:1607.06450
Beijing Historical Weather, Beijing, CN. https://www.worldweatheronline.com/beijing-weather-history/beijing/cn.aspx. [Last accessed on 2022-01-22]
Copenhagen Historical Weather, Copenhagen, DK. https://www.wunderground.com/history/monthly/dk/copenhagen. [Last accessed on 2022-08-05]
Lee W-C, Si W, Chen L-J, Chen MC (2012) Http: A new framework for bus travel time prediction based on historical trajectories. In: Proceedings of the 20th international conference on advances in geographic information systems. SIGSPATIAL ’12, Association for Computing Machinery, New York, NY, USA, pp 279–288. https://doi.org/10.1145/2424321.2424357
Drucker H, Burges CJC, Kaufman L, Smola A, Vapnik V (1996) Support Vector Regression Machines. In: Proceedings of the 9th International Conference on Neural Information Processing Systems. NIPS’96, MIT Press, Cambridge, MA, USA, pp 155–161
Wang D, Zhang J, Cao W, Li J, Zheng Y (2018) When will you arrive? estimating travel time based on deep neural networks. In: AAAI
Pan B, Demiryurek U, Shahabi C (2012) Utilizing real-world transportation data for accurate traffic prediction. In: 2012 IEEE 12th international conference on data mining. IEEE, pp 595–604
Kirlik G, Sayın S (2014) A new algorithm for generating all nondominated solutions of multiobjective discrete optimization problems. Eur J Oper Res 232(3):479–488
Acknowledgement
This work is supported in part by the National Key Research and Development Program of China (no. 2021ZD0112400), and also in part by the National Natural Science Foundation of China under grant 62276044.
Author information
Authors and Affiliations
Corresponding author
Ethics declarations
Conflict of interest
The authors declare that they have no conflict of interest.
Additional information
Publisher's Note
Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.
Rights and permissions
Springer Nature or its licensor holds exclusive rights to this article under a publishing agreement with the author(s) or other rightsholder(s); author self-archiving of the accepted manuscript version of this article is solely governed by the terms of such publishing agreement and applicable law.
About this article
Cite this article
Alkilane, K., Alfateh, M.T.E. & Yanming, S. Travel time prediction based on route links’ similarity. Neural Comput & Applic 35, 3991–4007 (2023). https://doi.org/10.1007/s00521-022-07926-7
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s00521-022-07926-7