1. Department of Transportation Information and Control Engineering, Key Laboratory of Road and Traffic Engineering, Ministry of EducationTongji University No. 4800, Cao'an Road Shanghai 201804 China
2. Traffic Management Research Institute of Public Security Ministry No. 88, Qianrong Road Wuxi 214151 China
3. Smart Transport Research Centre, Science and Engineering FacultyQueensland University of Technology 2 George St., GPO Box 2434 Brisbane QLD 4001 Australia