1. Institute of Intelligent Transportation Systems, Zhejiang University, Hangzhou 310058, China
2. Zhejiang Provincial Engineering Research Center for Intelligent Transportation, Hangzhou 310058, China
3. Polytechnic Institute, Zhejiang University, Hangzhou 310015, China
4. Institute of Intelligent Transportation Systems, College of Civil Engineering and Architecture, Zhejiang University, Hangzhou 310058, China