1. Jiangsu Key Laboratory of Urban ITS, Southeast University of China, Nanjing, Jiangsu, 210096, P. R. China
2. Jiangsu Province Collaborative Innovation Center of Modern Urban Traffic Technologies, Nanjing, Jiangsu, 210096, P. R. China
3. School of Engineering Science, University of Science and Technology of China, Hefei, Anhui, 230026, P. R. China