1. State Key Laboratory of Advanced Rail Autonomous Operation, the School of Electronics and Information Engineering, and the Frontiers Science Center for Smart High-speed Railway System, Beijing Jiaotong University, Beijing, China
2. Institute of Computing Technology, China Academy of Railway Sciences Corporation Ltd., Beijing, China
3. China Academy of Industrial Internet, Ministry of Industry and Information Technology, Beijing, China
4. Aerospace Information Research Institute, Chinese Academy of Sciences, Beijing, China