1. Fujian Expressway Group Co. , Ltd, Fuzhou 350000, Fujian , China
2. Fujian Expressway Science & Technology Innovation Research Institute Co. , Ltd, Fuzhou 350000, Fujian , China
3. Beijing Baidu Netcom Science Technology Co. , Ltd, Beijing 100000 , China
4. Key Laboratory of Road and Traffic Engineering of the Ministry of Education, Tongji University , Shanghai 201804