1. Jiangsu Key Laboratory of Urban ITS, Southeast University, Nanjing, P.R. China
2. Jiangsu Province Collaborative Innovation Center of Modern Urban Traffic Technologies, Nanjing, P.R. China
3. Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems and Safety Control, Beihang University, Beijing, P.R. China
4. Road Traffic Safety Research Center of the Ministry of Public Security, Beijing, P.R. China