1. School of Transportation, Southeast University, No. 2, Southeast University Rd., Jiangning District, Nanjing, 211189, Jiangsu, People’s Republic of China, https://orcid.org/0000-0002-8602-8199 (X.J.)
2. Intelligent Transportation System Research Centre, No. 2, Southeast University Rd., Jiangning District, Nanjing, 211189, Jiangsu, People’s Republic of China (Corresponding author), e-mail: hhhwei2005@126.com
3. Nanjing Modern Multimodal Transportation Laboratory, No. 56, Baoshansi Rd., Jiangning District, Nanjing, 211135, Jiangsu, People’s Republic of China
4. Intelligent Transportation System Research Centre, No. 2, Southeast University Rd., Jiangning District, Nanjing, 211189, Jiangsu, People’s Republic of China
5. Scegc Mechanized Construction Group Co., Ltd., No. 406, Quanhua North Rd., Xincheng District, Xi’an, 710032, Shanxi, People’s Republic of China