1. School of Transportation, Fujian University of Technology, 69-1 Xuefu South Road, Fuzhou, 350118, China
2. Intelligent Transportation System Research Center, Fujian University of Technology, 69‑1 Xuefu South Road, Fuzhou 350118, China
3. College of Mathematics and Computer Science, Fuzhou University, 2 Xueyuan Road, Fuzhou, 350108, China
4. School of Electronics, Electrical Engineering and Physics, Fujian University of Technology, 69 Xuefu South Road, Fuzhou, 350118, China