1. Jiangsu Key Laboratory of Urban ITS, Southeast University, Si Pai Lou #2, Nanjing 210096, China
2. Jiangsu Province Collaborative Innovation Center of Modern Urban Traffic Technologies, Southeast University, Si Pai Lou #2, Nanjing 210096, China
3. School of Transportation, Southeast University, Si Pai Lou #2, Nanjing 210096, China
4. Tsinghua Tongheng Urban Planning and Design Institute, Beijing 100085, China
5. Department of Civil, Environmental, and Geo-Engineering, University of Minnesota, 500 Pillsbury Drive S.E., Minneapolis, MN 55455, USA