[1] Nanjing Univ Posts & Telecommun, Sch Modern Posts, Nanjing 210003, Jiangsu, Peoples R China
[2] Swiss Fed Inst Technol, Inst Transport Planning & Syst IVT, CH-8093 Zurich, Switzerland
[3] Southeast Univ, Sch Transportat, Nanjing 211189, Jiangsu, Peoples R China
[4] Tsinghua Univ, Sch Vehicle & Mobil, State Key Lab Automot Safety & Energy, Beijing 115003, Peoples R China
[5] Chalmers Univ Technol, Dept Architecture & Civil Engn, SE-41296 Gothenburg, Sweden
[6] Northeastern Univ, Khoury Coll Comp Sci, Boston, MA 02115 USA