1. Shandong Key Laboratory of Highway Technology and Safety Assessment, Jinan, Shandong 250101, China
2. Shandong Hi-Speed Information Group Co., Ltd., Jinan, Shandong 250000, China
3. School of Transportation Science and Engineering, Beihang University, Beijing 100191, China
4. Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems and Safety Control, Beihang University, Beijing 100191, China
5. School of Traffic and Transportation, Beijing Jiaotong University, Beijing 100044, China
6. Shandong Hi-Speed Engineering Test Co., Ltd., Jinan, Shandong 250002, China