1. School of Transportation Science and Engineering, Beihang University, Beijing 100191, China
2. Department of Transport and Planning, Faculty of Civil Engineering and Geosciences, Delft University of Technology, 2628 CN Delft, The Netherlands
3. School of Control and Computer Engineering, North China Electric Power University, Beijing 102206, China
4. Beijing Key Laboratory of Traffic Engineering, College of Metropolitan Transportation, Beijing University of Technology, Beijing 100124, China