1. Intelligent Transportation Systems Research Center, Wuhan University of Technology, Wuhan, China
2. Nanjing University of Aeronautics and Astronautics, Nanjing, China
3. School of Transportation Engineering, East China Jiaotong University, Nanchang, China
4. Universtiy of Alberta, Edmonton, Canada
5. Wuhan Public Security Bureau Traffic Management Bureau Science and Technology Management Department, Wuhan, China