1. Intelligent Transportation Systems Research Center, Wuhan University of Technology, Wuhan, China
2. Engineering Research Center of Learning-Based Intelligent System (Ministry of Education), Tianjin University of Technology, Tianjin, China
3. Smart Innovation Norway, Halden, Norway
4. Department of Automation, Shanghai Jiao Tong University, Shanghai, China
5. Department of Maritime and Transport Technology, Delft University of Technology, Delft, The Netherlands