1. School of Transportation, Southeast University 1 , 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 2 , 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 3 , No. 56, Baoshansi Rd., Jiangning District, Nanjing, 211135, Jiangsu, People’s Republic of China
4. Intelligent Transportation System Research Centre 4 , No. 2, Southeast University Rd., Jiangning District, Nanjing, 211189, Jiangsu, People’s Republic of China
5. Scegc Mechanized Construction Group Co., Ltd. 5 , No. 406, Quanhua North Rd., Xincheng District, Xi’an, 710032, Shanxi, People’s Republic of China