CRediT authorship contribution statement Yun Ye: Conceptualization, Formal analysis, Data curation, Software, Validation, Visualization, Writing – original draft. Pengjun Zheng: Formal analysis, Writing – review & editing. Haoyang Liang: Writing – review & editing. Xiqun Chen: Writing – review & editing. S.C. Wong: Resources, acquistion, Writing – review & editing. Pengpeng Xu: Conceptualization, Formal analysis, acquistion, Writing – review & editing. The work was supported by grants from the Natural Science Foundation of China (Project No. 52302433), Talent Start-up Project of Ningbo University (Project No. ZX2023000249), Ningbo Yongjiang Talent Project Young Innovative Talent Program (Project No. ZX2024000003), Natural Science Foundation of Guangdong Province, China (Project No. 2023A1515012404), Open Fund of Hunan Key Laboratory of Smart Roadway and Cooperative Vehicle-Infrastructure Systems, Changsha University of Science & Technology