1. Guangxi Key Laboratory of Intelligent Transportation System, School of Architecture and Transportation Engineering, Guilin University of Electronic Technology, Guilin 541004, China
2. School of Architecture and Transportation Engineering, Guilin University of Electronic Technology, Guilin 541004, China
3. State Key Laboratory of Automotive Safety and Energy, School of Vehicle & Mobility, Tsinghua University, Beijing 100084, China
4. School of Transportation, Southeast University, Nanjing 210096, China
5. Guangxi Communications Design Group Co., Ltd., Nanning 530022, China