1. School of Transportation Science and Engineering, Key Laboratory of Autonomous Transportation Technology for Special Vehicles, Ministry of Industry and Information Technology, Beihang University, Beijing, China
2. Chair of Traffic Process Automation, Technische Universität Dresden, Dresden, Germany
3. Department of Intelligent Transportation System, Baidu, Beijing, China
4. Department of Traffic Engineering and Key Laboratory of Road and Traffic Engineering, Ministry of Education, Tongji University, Shanghai, China