1. Jiangsu Key Laboratory of Urban ITS, Southeast University, Si Pai Lou No. 2, Nanjing 210096, China
2. Jiangsu Province Collaborative Innovation Center of Modern Urban Traffic Technologies, Si Pai Lou No. 2, Nanjing 210096, China
3. School of Civil Engineering, Xi’an University of Architecture & Technology, Yanta Road No. 13, Xi’an 710055, China