1. Jiangsu Key Laboratory of Urban ITS, Southeast University, Nanjing 210096, China
2. Jiangsu Province Collaborative Innovation Center of Modern Urban Traffic Technologies, Southeast University, Nanjing 210096, China
3. School of Transportation, Southeast University, Nanjing 210096, China
4. Department of Civil, Construction and Environmental Engineering, North Carolina State University, Raleigh, NC 27695, USA