I. Introduction
With the rapid development of intelligent transportation systems (ITS), many traffic data are collected by various types of traffic equipments, such as loop detectors, cameras, loop detectors, etc. Extensive traffic data collected from these equipments make it possible to develop traffic condition prediction models. Predicted traffic information in the near future can provide traffic authorities traffic control assistance and give travelers route guidance information. Therefore, the short-term traffic prediction models have become a hotspot in ITS in the past decade.