1. MOE Key Laboratory for Transportation Complex Systems Theory and Technology, Center of Cooperative Innovation for Beijing Metropolitan Transportation; Beijing Jiaotong University; Beijing 100044 China
2. Department of Civil and Environmental Engineering; University of Waterloo; 200 University Avenue West Waterloo Ontario N2L 3G1 Canada
3. MOE Key Laboratory for Transportation Complex Systems Theory and Technology, School of Traffic and Transportation; Beijing Jiaotong University; Beijing 100044 China