1. State Key Laboratory of Maritime Technology and Safety and School of Transportation and Logistics Engineering, Wuhan University of Technology, Wuhan, China
2. Intelligent Transportation Systems Research Center, the State Key Laboratory of Maritime Technology and Safety, and the School of Transportation and Logistics Engineering, Wuhan University of Technology, Wuhan, China
3. Intelligent Transportation Systems Research Center and the State Key Laboratory of Maritime Technology and Safety, Wuhan University of Technology, Wuhan, China
4. Department of Mechanics and Maritime Sciences, Chalmers University of Technology, Gothenburg, Sweden