I. Introduction
Travel time information is nontrivial for travelers, transportation agencies and traffic management authorities. Information on the future state of traffic enables travelers and transportation agencies to plan their trips and avoid congested roads, leading to reduce transport costs and delays. Traffic management authorities using travel time information can apply policies, such as rerouting traffic or optimizing the signaling time of traffic lights, to reduce or prevent congestion. These measures also reduce greenhouse gas emissions, as CO2 emission rates in congested conditions can be up to 40% higher than the emission rates seen in free-flow conditions [1].