1. Intelligent Transportation Systems Research Center, Wuhan University of Technology, Wuhan, China
2. School of Computer Science and Engineering, Wuhan Institute of Technology, Wuhan, China
3. Nanjing Smart Water Transportation Technology Company Ltd., Nanjing, China
4. School of Automation, Hangzhou Dianzi University, Hangzhou, China
5. Liverpool, Logistics, Offshore and Marine (LOOM) Research Institute, Liverpool John Moores University, Liverpool, U.K.