1. Beijing Advanced Innovation Center for Big Data and Brain Computing, Beihang University, Beijing 100191, China
2. School of Transportation Science and Engineering, Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems and Safety Control, Beihang University, Beijing 100191, China
3. Jiangsu Province Collaborative Innovation Center of Modern Urban Traffic Technologies, Nanjing 210096, China
4. Department of Engineering and Design, University of Sussex, Brighton BN1 9RH, UK
5. The Texas Department of Transportation, Austin TX 78750, USA
6. College of Computer Science and Technology, Jilin University, Changchun 130012, China