1. School of Transportation, Southeast University, Nanjing 211189, China
2. Guangdong Hualu Traffic Technology Co., Ltd., No. 1180 Guangcong Eighth Road, Guangzhou 510435, China
3. Intelligent Transportation Systems Research Center, Southeast University, Nanjing 211189, China
4. Nanjing Modern Comprehensive Transportation Laboratory, Nanjing 211189, China