In coastal-urban cities facing an elevated risk of nuisance flooding (by rain and tide) due to increased heavy rainfall, sea level rise, urbanization, and aging drainage systems, real-time flood forecasting at the street-scale can provide useful information to transportation decision-makers. Physics-Based Models (PBMs) that offer high accuracy come with high computational runtimes and costs that limit their application for real-time flood forecasting. To address this challenge, Machine Learning (ML) surrogate models trained from PBMs have been proposed to provide street-scale flood forecasts. Previous related studies have focused on using Long Short-Term Memory (LSTM) architectures to model hourly flood depth on streets. While LSTM models can capture input sequences effectively, they fall short in accurately preserving output sequences, limiting their suitability for multi-step-ahead forecasts. The seq2seq LSTM architecture offers a key advantage here by capturing the full sequence of input-output, making it potentially more suitable for multi-step-ahead flood forecasts compared to traditional LSTM models. However, seq2seq LSTM has not been tested for street-scale flood forecasting, particularly for rapidly fluctuating nuisance flooding events which require special attention to its temporal sequences. Hence, in this study, we applied the seq2seq LSTM model to explore multi-step-ahead street-scale nuisance flooding and compared its results to the traditional LSTM model as a benchmark model. LSTM and seq2seq LSTM surrogate models were applied to 22 flood-prone streets in Norfolk, Virginia, as a case study with a 4-hr (short-term) and 8-hr (long-term) lead time. The models were trained with environmental (rainfall and tide) and topographic (elevation, Topographic Wetness Index, and Depth-To-Water) features along with PBM-derived water depths for different storm events. The results demonstrated satisfactory performance of both LSTM and seq2seq LSTM surrogate models throughout the forecast period compared to the PBM. However, the seq2seq LSTM showed lower Mean Absolute Error (MAE)/ Root Mean Square Error (RMSE) and higher Nash-Sutcliffe Efficiency (NSE)/ correlation than the LSTM across most lead times, particularly for long-term forecasting due to its supremacy in handling both input-output sequences together, which is missing in the traditional LSTM. For example, in the long-term, the average RMSE ranges were 0.0268-0.0373 m for LSTM and 0.0226-0.0319 m for seq2seq LSTM, while in the short-term, they were 0.0263-0.0293 m and 0.0261-0.0283 m, respectively. Additionally, while both models exhibited similar performance in distinguishing flooded and non-flooded streets for flood depth >= 0.1 m, the seq2seq LSTM model demonstrated superior performance for higher flood depths (such as >= 0.2 m and >= 0.3 m). Once trained, inference took only 0.09 to 0.11 s (short-term) and 0.30 to 0.35 s (long-term) per storm event for the 22 streets, making the application highly suitable for real-time decision- making during nuisance flood events.
