Faculty of Science, Ningbo University, Ningbo 315211, China;
Faculty of Maritime and Transportation, Ningbo University, Ningbo 315211, China;
Jiangsu Key laboratory of Urban ITS, Southeast University, Nanjing 210096, China;
Department of Civil and Architectural Engineering, City University of Hong Kong, Kowloon, China;
Faculty of Maritime and Transportation, Ningbo University, Ningbo 315211, China;
Jiangsu Key laboratory of Urban ITS, Southeast University, Nanjing 210096, China;
