1. State Key Laboratory of Rail Traffic Control and Safety, Beijing Jiaotong University, Beijing 100044, China
2. School of Traffic and Transportation, Beijing Jiaotong University, Beijing 100044, China
3. Beijing Engineering Research Center of Urban Traffic Information Intelligent Sensing and Service Technologies, Beijing Jiaotong University, Beijing 100044, China
4. School of Mechanical and Electrical Engineering, North China University of Technology, Beijing 100041, China
5. School of Information Engineering, Zhengzhou University, Zhengzhou 450052, China