1. Beijing Key Lab of Urban Intelligent Traffic Control Technology, North China University of Technology, Beijing 100041, China
2. State Key Laboratory of Rail Traffic Control and Safety, Beijing Jiaotong University, Beijing 100044, China
3. OPERA Laboratory, University of Technology of Belfort-Montbéliard, 90000 Belfort, France
4. Xiamen Traffic Management Bureau, Xiamen 361003, China