1. Jiangsu Modern Urban Transportation Technology Collaborative Innovation Center, Faculty of Maritime and Transportation, Ningbo University, Fenghua Road 818#, Ningbo 315211, China
2. College of Automobile and Traffic Engineering, Nanjing Forestry University, Longpan Road 159#, Nanjing 210037, China
3. School of Architecture and Transportation, Guilin University of Electronic Technology, Lingjinji Road 1#, Guilin 541004, China
4. School of Transportation, Southeast University, Si Pai Lou 2#, Nanjing 210096, China
5. Department of Civil and Environmental Engineering, University of Wisconsin-Madison, 1415 Engineering Drive, Madison, WI 53706, USA