[1] Hefei Univ Technol, Sch Automot & Transportat Engn, Hefei 230009, Peoples R China
[2] Southeast Univ, Jiangsu Prov Collaborat Innovat Ctr Modern Urban T, Jiangsu Key Lab Urban ITS, Nanjing, Peoples R China
[3] Southeast Univ, Sch Transportat, Nanjing, Peoples R China
[4] Beijing Univ Technol, Beijing Key Lab Traff Engn, Beijing 100021, Peoples R China