1. Hunan Key Laboratory of Smart Roadway and Cooperative Vehicle-infrastructure Systems, Changsha University of Science &Technology, Changsha, People’s Republic of China
2. School of Traffic and Transportation Engineering, Changsha University of Science and Technology, Changsha, People’s Republic of China
3. Key Laboratory of Highway Engineering of Ministry of Education, Changsha University of Science & Technology, Changsha, People's Republic of China
4. Department of Automation, Beijing National Research Center for Information Science and Technology, Tsinghua University, Beijing, People’s Republic of China
5. Department of Civil, Environmental and Construction Engineering, University of Central Florida, Orlando, FL, USA