1. Faculty of Maritime and Transportation, Ningbo University, Ningbo 315832, China
2. Collaborative Innovation Center of Modern Urban Traffic Technologies, Southeast University, Nanjing 211189, China
3. National Traffic Management Engineering & Technology Research Centre, Ningbo University Sub-Centre, Ningbo 315832, China
4. Ningbo Pilot Station, Ningbo 315040, China
5. Barcelona School of Nautical Studies, Universitat Politècnica de Catalunya—BarcelonaTech, 08003 Barcelona, Spain