1. Beijing Key Laboratory for Cooperative Vehicle Infrastructure System and Safety Control, the Beijing Advanced Innovation Center for Big Data and Brain Computing, and the National Engineering Laboratory for Comprehensive Transportation Big Data Application Technology (NEL-CTBD), Beihang University, Beijing, China
2. Beijing Key Laboratory for Cooperative Vehicle Infrastructure System and Safety Control, Beihang University, Beijing, China
3. College of Traffic and Transportation, Chongqing Jiaotong University, Chongqing, China
4. College of Transportation, Jilin University, Changchun, China