1. School of Transportation Science and Engineering, Beihang University, Beijing, China
2. Zhongguancun Laboratory, Beijing, China
3. State Key Laboratory of Software Development Environment, Beihang University, Beijing, China
4. School of Software, Beihang University, Beijing, China
5. Zhongguancun Laboratory, Beijing China
6. Pontosense Inc, Toronto Canada
7. Computer and Information Sciences, Hosei University, Chiyoda-ku, Japan