1. Faculty of Maritime and Transportation, Ningbo University, Ningbo 315211, P. R. China
2. Jiangsu Province Collaborative Innovation, Center of Modern Urban, Traffic Technologies, Southeast University Road #2, Nanjing 211189, P. R. China
3. School of Transportation, Wuhan University of Technology, Wuhan 430063, P. R. China
4. Faculty of Engineering and the Environment, University of Southampton, Southampton, SO167QF, UK