1. School of Traffic and Transportation Engineering, Central South University, Changsha, Hunan 410075, China
2. Civil Aviation College, Nanjing University of Aeronautics and Astronautics, Nanjing 211106, China
3. School of Traffic and Transportation Engineering, Changsha University of Science and Technology, Changsha, Hunan 410075, China
4. Jiangsu Key Laboratory of Urban ITS, Jiangsu Province Collaborative Innovation Center of Modern Urban Traffic Technologies, School of Transportation, Southeast University, Nanjing 210096, China