1. School of Transportation, Fujian University of Technology, Fujian, People’s Republic of China
2. Intelligent Transportation System Research Center Fujian University of Technology Fujian, Fujian, People’s Republic of China
3. School of Mechanical, Fujian University of Technology, Fujian, People’s Republic of China
4. School of Computer and Mathematics, Fujian University of Technology, Fujian, People’s Republic of China