1. Jiangsu Key Laboratory of Urban ITS, Southeast University, Si Pai Lou No. 2, Nanjing 210096, China
2. Department of Civil and Environmental Engineering, National University of Singapore, Engineering Drive 2, E1A 08-20, Singapore 117576
3. School of Transportation, Southeast University, Si Pai Lou No. 2, Nanjing 210096, China
4. Department of Civil and Environmental Engineering, National University of Singapore, Engineering Drive 2, E1A 07-03, Singapore 117576