1. Jiangsu Key Laboratory of Urban ITS, Southeast University, China
2. Jiangsu Province Collaborative Innovation Center of Modern Urban Traffic Technologies, China
3. School of Transportation, Southeast University, 2 Dongnandaxue Rd, Nanjing, Jiangsu 211189, China
4. School of Engineering, RMIT University, Carlton, Melbourne, VIC 3053, Australia
5. Safe Transportation Research & Education Center, Institute of Transportation Studies, UC Berkeley, 2614 Dwight Way, Berkeley, CA 94720-7374, USA