1. Jiangsu Key Laboratory of Urban ITS, Southeast University of China, Nanjing 210096, China
2. Jiangsu Province Collaborative Innovation Center of Modern Urban Traffic Technologies, Nanjing 210096, China
3. School of Aeronautics, Northwestern Polytechnical University, Xi’an 710072, China
4. Urban System Lab, Imperial College London, London SW7 2AZ, UK