Short-term travel time prediction is an important consideration in modern traffic control and management systems. As probe data technology has developed, research interest has moved from highways to urban roads. Most research has only focused on improving the prediction accuracy on urban roads because it is the key index of evaluating a model. However, the low penetration rate of probe vehicles at urban networks may result in the low coverage rate which restricts prediction models from practical applications. This research proposed a non-parametric model based on Bayes' theorem and a resampling process to predict short-term urban link travel time, which can enhance the coverage rate while maintaining the prediction accuracy. The proposed model used data from vehicles in both the target link and its crossing direction, so its coverage rate can be expanded, especially when the data penetration rate is low. In addition, the utilization of relationships between vehicles in both directions can reflect the influence of signal timing. The proposed model was evaluated in a computer simulation to test its robustness and reliability under different data penetration rates. The results implied that the proposed model has a high coverage rate, demonstrating stable and acceptable performance at different penetration rates.
Keywords: coverage rate; low penetration rate; probe vehicle data; short-term; urban travel time prediction; vehicles in the crossing direction.