1. State Key Laboratory of Rail Traffic Control and Safety, Beijing Jiaotong University, Beijing 100044, China
2. Beijing Research Center of Urban Traffic Information Sensing and Service Technologies, Beijing Jiaotong University, Beijing 100044, China
3. School of Traffic and Transportation, Beijing Jiaotong University, Beijing 100044, China
4. Beijing Key Lab of Urban Intelligent Traffic Control Technology, North China University of Technology, Beijing 100041, China
5. OPERA Laboratory, University of Technology of Belfort-Montbéliard, 90000 Belfort, France