A method for speed prediction may include obtaining current vehicle speeds associated with first vehicles that pass through a target road section in a current time interval. The method may also include determining a current road speed associated with the target road section in the current time interval based on the current vehicle speeds. The method may also include determining a predicted speed difference between the current road speed and a future road speed associated with the target road section in a future time interval based on the current road speed and a trained prediction model, which is based on prior speed differences, wherein the current time interval and the future time interval are separated by a first time period. The method may also include estimating the future road speed based on the predicted speed difference and the current road speed.