I. Introduction
Prediction of short-term traffic flow is considered as a challenging problem in ITS(Intelligent Transport System). Accurately forecasting traffic flow is quite significant for effective traffic management system. Real-time and accurate traffic flow prediction has a wide range of applications, including traffic control, traffic induction, and vehicle routing, etc. The problem induced by the randomness, nonlinearity and complexity of traffic flow has compelled us to search for more reliable techniques to forecast traffic flow.