[1] Beihang Univ, Beijing Key Lab Cooperat Vehicle Infrastruct Syst, Sch Transportat Sci & Engn, Beijing 100191, Peoples R China
[2] Beihang Univ, Sch Econ & Management, Beijing 100191, Peoples R China
[3] Beijing Jiaotong Univ, State Key Lab Rail Traff Control & Safety, Beijing 100044, Peoples R China
[4] Utah State Univ, Dept Civil & Environm Engn, Logan, UT 84322 USA