1. School of Civil Engineering and Transportation, South China University of Technology, Guangzhou, P. R. China;
2. Jiangsu Province Collaborative Innovation Center of Modern Urban Traffic Technologies, Nanjing, P. R. China;
3. College of Transportation Engineering, Tongji University, Shanghai, P. R. China;
4. State Key Laboratory of Automotive Safety and Energy, School of Vehicle and Mobility, Tsinghua University, Beijing, P. R. China