1. State Key Laboratory of Internet of Things for Smart City and the Department of Electromechanical Engineering, University of Macau, Macau, China
2. School of Mechanical Engineering, Beijing Institute of Technology, Beijing, China
3. School of Computer and Information Technology, Beijing Jiaotong University, Beijing, China
4. State Key Laboratory of Internet of Things for Smart City, University of Macau, Macau, China
5. School of Transportation Science and Engineering, Beihang University, Beijing, China