[1] Beihang Univ, Sch Transportat Sci & Engn, Beijing Key Lab Cooperat Vehicle Infrastruct Syst, Beijing 100191, Peoples R China
[2] Beihang Univ, Sch Econ & Management, Beijing 100191, Peoples R China
[3] North China Univ Technol, Beijing Key Lab Urban Intelligent Traff Control T, Beijing 100041, Peoples R China
[4] Curtin Univ, Dept Math & Stat, Perth, WA 6845, Australia