1. School of Transportation, Southeast University, Nanjing 211189, China
2. Jiangsu Key Laboratory of Urban ITS, Jiangsu Province Collaborative Innovation Center of Modern Urban Traffic Technologies, Nanjing 211189, China
3. National Demonstration Center for Experimental Road and Traffic Engineering Education, Nanjing 211189, China
4. School of Transportation, Fujian University of Technology, Fuzhou 350118, China