1. Intelligent Transport System (ITS) R & D Center, Shanghai Urban Construction Design and Research Institute (Group) Co., Ltd., Shanghai 200125, China
2. China FAW Group Co., Ltd., Changchun 130011, China
3. Bureau of Transportation and Construction, TEDA Administrative Commission, Tianjin 300450, China
4. Department of Traffic Information and Control Engineering, Jilin University, Changchun 130022, China
5. Jilin Engineering Research Center for Intelligent Transportation System, Changchun 130022, China