Traffic signal forecasting plays a significant role in intelligent traffic systems since it can predict upcoming traffic signal without using traditional radio-based direct communication with infrastructures, which causes high risk in the communication security. Previously, mathematical and statistical approach has been adopted to predict fixed time traffic signals, but it is no longer suitable for modern traffic-actuated control systems, where signals are dependent on the dynamic requests from traffic flows. And as a large amount of data is available, machine learning methods attract more and more attention.
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