1. Transport Planning and Research Institute, Ministry of Transport, Beijing 100028, China
2. College of Transportation Engineering, Dalian Maritime University, Dalian 116026, China
3. Digital Laboratory of Integrated Transportation Planning, Beijing 100028, China
4. Intelligent Transportation Systems Research Center, Wuhan University of Technology, Wuhan 430063, China
5. National Engineering Research Center for Water Transport Safety, Wuhan University of Technology, Wuhan 430063, China
6. State Key Laboratory of Waterway Traffic Control, Wuhan University of Technology, Wuhan 430063, China