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 Traffic Management Engineering, Shandong Police College, Jinan 250014, China
5. Griffith School of Engineering, Griffith University, 58 Parklands Dr., Southport, QLD 4215, Australia