1. Department of Electrical and Electronic Engineering, University of Liverpool, Liverpool, U.K.
2. Shenzhen Urban Transport Planning Center, Shenzhen, China
3. Department of Electrical and Electronic Engineering, Imperial College London, London, U.K.
4. College of Mechatronics and Control Engineering, Shenzhen University, Shenzhen, China
5. School of Electrical and Information Engineering, University of Sydney, Sydney, NSW, Australia