1. School of Computer Science and Technology, Hubei University of Technology, Wuhan, China
2. China Railway Seventh Bureau Group Electrical Engineering Co. Ltd, Zhengzhou, China
3. Intelligent Transport Systems Research Center (ITSC), Wuhan University of Technology, Wuhan, China
4. National Engineering Research Centre for Water Transport Safety (WTSC), Wuhan, China
5. Key Laboratory of Hunan Province for Efficient Power System and Intelligent Manufacturing, Hunan, China