1. Intelligent Transport Systems Research Center, Engineering Research Center of Transportation Safety, Ministry of Education, 1040 Heping Avenue, Wuchang District, Wuhan 430063, China
2. School of Automation, Wuhan University of Technology, 122 Luoshi Road, Hongshan District, Wuhan 430070, China
3. School of Navigation, Wuhan University of Technology, Engineering Research Center of Transportation Safety, Ministry of Education, 1040 Heping Avenue, Wuchang District, Wuhan 430063, China