“…As is turns out, the provision of travel time information may reduce traffic congestion significantly and improve the performance of the whole network system (Ben-Akiva et al, 1991). Because of its critical role in traffic monitoring, extensive research has been conducted on the estimation and prediction of travel times on both freeways and urban roadways (Bhaskar et al, 2011, Coifman, 2002, Coifman and Krishnamurthy, 2007, Du et al, 2012, Ndoye et al, 2011, Sun et al, 2008, van Lint et al, 2005, van Lint and van der Zijpp, 2003. The widely used sensors to collect travel time data are loop detectors, which have been found to suffer from high maintenance costs and poor reliability (Rajagopal and Varaiya, 2007).…”