1. Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems and Safety Control, School of Transportation Science and Engineering, Beihang University, Beijing, People’s Republic of China
2. Beijing Advanced Innovation Center for Big Data and Brain Computing, Beihang University, Beijing, People’s Republic of China
3. Department of Civil Engineering, Monash University, Melbourne, Australia
4. DiDi Smart Transportation, Zhongguancun Software Park, Beijing, People’s Republic of China