1. School of Transportation Science and Engineering, Beihang University, Beijing 100191, China
2. Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems and Safety Control, Beihang University, Beijing 100191, China
3. Beijing CenNavi Technologies Co., Ltd., Beijing 100038, China
4. School of Traffic and Transportation, Beijing Jiaotong University, Beijing 100044, China
5. Freight Mobility Research Institute, Department of Civil Environmental and Geomatics Engineering, Florida Atlantic University, Boca Raton, FL 33431, USA