1. School of Transportation Science and Engineering, Harbin Institute of Technology, No. 73 Huanghe Road, Nangang District, Harbin, Heilongjiang, CN, 150090.
2. School of Transportation Science and Engineering, Harbin Institute of Technology, No. 73 Huanghe Road, Nangang District, Harbin, Heilongjiang, CN, 150090, e-mail: guomeng87@163.com; mguo@hit.edu.cn