1. Faculty of Maritime and Transportation, Ningbo University, Ningbo 315832, China
2. Jiangsu Province Collaborative Innovation Center for Modern Urban Traffic Technologies, Nanjing 211189, China
3. National Traffic Management Engineering & Technology Research Centre, Ningbo University Sub-Center, Ningbo 315832, China
4. Ningbo Development Planning Institute, Ningbo 315832, China
5. Barcelona School of Nautical Studies, Universitat Politècnica de Catalunya (UPC—BarcelonaTech), 08003 Barcelona, Spain