1. MOE Key Laboratory for Urban Transportation Complex Systems Theory and Technology, School of Traffic and Transportation, Beijing Jiaotong University, 3 Shang Yuan Cun, Haidian District, Beijing 100044, China
2. Institute of Systems Engineering and Control, School of Traffic and Transportation, Beijing Jiaotong University, 3 Shang Yuan Cun, Haidian District, Beijing 100044, China
3. Department of Civil and Environmental Engineering, Transportation Research Centre, The University of Auckland, 20 Symonds Street, Auckland 1142, New Zealand