1. School of Traffic and Transportation, Beijing Jiaotong University, No. 3 Shangyuancun, Haidian District, Beijing 100044, China
2. Institute for Transportation Research and Education (ITRE), North Carolina State University, 909 Capability Drive, Raleigh, NC 27695, USA
3. Beijing Nebula Link Technology Co., Ltd, Suite A9, No. 8 Xueqing Rd, Haidian District, Beijing 10083, China
4. School of Trasportation Science and Engineering, Beihang University, No. 37 Xueyuan Road, Haidian District, Beijing 100091, China
5. Department of Civil and Environmental Engineering, University of Nevada, Reno, 1664 N. Virginia Street, MS 258, Reno, NV 89557, USA