1. Key Laboratory of Traffic Safety on Track of Ministry of Education, School of Traffic & Transportation Engineering, Central South University 1 , Changsha, People's Republic of China
2. Department of Mechanical and Industrial Engineering, University of Toronto 2 , Toronto, Ontario M5S 3G8, Canada
3. Department of Civil and Environmental Engineering, The Hong Kong Polytechnic University 3 , Kowloon, Hong Kong SAR, People's Republic of China