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, Southeast University of China, Nanjing, Jiangsu 210096, P. R. China
3. MOE Key Laboratory for Urban Transportation, Complex Systems Theory and Technology, Beijing Jiaotong University, Beijing 100044, P. R. China
4. Shanghai Institute of Applied Mathematics and Mechanics, Shanghai University, Shanghai 200072, P. R. China