Manuscript received April 26, 2020; revised August 24, 2020 and October 26, 2020; accepted November 23, 2020. Date of publication December 10, 2020; date of current version March 31, 2021. This work was supported in part by the National Key Research and Development Program of China under Grant 2019YFB1600200; in part by the National Natural Science Foundation of China under Grant 51678075 and Grant 51808057; in part by the Hunan Provincial Natural Science Foundation of China under Grant 2019JJ30026; in part by the Young Elite Scientists Sponsorship Program by Hunan Province of China under Grant 2018RS3074; in part by the Changsha Science and Technology Bureau Project under Grant kq1801056; in part by the Open Fund of Hunan Key Laboratory of Smart Roadway and Cooperative Vehicle-Infrastructure Systems under Grant kfj180702, Grant kfj190702, Grant kfj190704, and Grant 180402; in part by the CSUST International Cooperation Project under Grant 2019IC11; in part by the Ministry of Science Project with Montenegro (3-2); and in part by the Hunan Education Department of China through the Scientific Research Project under Grant 18C0859 and Grant 20A093. The Associate Editor for this article was X. Ma. (Corresponding authors: Jie Yu; Wei Hao.) Zhengwu Wang, Wei Hao, and Jian Xiang are with the School of Traffic and Transportation Engineering, Changsha University of Science and Technology, Changsha 410114, China (e-mail: zhengwu.wang@126.com; haowei@csust.edu.cn; 1028206036@qq.com).
