1. Jiangsu Key Laboratory of Urban ITS, Southeast University, Nanjing, China
2. Jiangsu Province Collaborative Innovation Center of Modern Urban Traffic Technologies
3. School of Transportation, Southeast University, Nanjing, China
4. National Demonstration Center for Experimental Road and Traffic Engineering Education, Southeast University, Nanjing, China
5. Intelligent Transportation System Research Center, Southeast University, Nanjing, China