1. Research Fellow, School of Electronic and Information Engineering, Beihang Univ., No. 37 Xue Yuan Lu, Hai Dian District, Beijing 100083, China; Research Fellow, Intelligent Transportation Research Center, Hefei Innovation Research Institute, Beihang Univ., Hefei, Anhui 230009, China.
2. Research Associate, Research Institute of Highway Ministry of Transport, No. 8 Xi Tu Cheng Lu, Hai Dian District, Beijing 100088, China.
3. Associate Professor, Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems and Safety Control, No. 37 Xue Yuan Lu, Hai Dian District, Beijing 100083, China; Associate Professor, School of Transportation Science and Engineering, Beihang Univ., No. 37 Xue Yuan Lu, Hai Dian District, Beijing 100083, China.
4. Lecturer, Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems and Safety Control, No. 37 Xue Yuan Lu, Hai Dian District, Beijing 100083, China; Lecturer, School of Transportation Science and Engineering, Beihang Univ., No. 37 Xue Yuan Lu, Hai Dian District, Beijing 100083, China (corresponding author).
5. Research Scholar, Intelligent Transportation Research Center, Hefei Innovation Research Institute, Beihang Univ., Hefei, Anhui 230009, China.