1. Department of Big Data Management and Applications, Chang'an University 1 , Xi'an 710064 , China
2. Engineering Research Center of Highway Infrastructure Digitalization, Ministry of Education of PRC, Chang’an University 2 , Xi'an 710064 , China
3. School of Information Engineering, Chang'an University 3 , Xi'an 710064 , China
4. School of Electrical and Control Engineering, Xi’an University of Science and Technology 4 , Xi'an 710064 , China