Article in IEEE Transactions on Intelligent Transportation Systems · (17/50 pp 1196-1209), May 2016 Impact Factor: 2.38 · DOI: 10.1109/TITS.2015.2477350 Jun Chen, Michal Weiszer, Paul Stewart, Senior Member, IEEE, and Masihalah Shabani This work was supported in part by the EPSRC under Grant EP/H00424/1. J. Chen and M. Weiszer are with the School of Engineering, University of Lincoln, Lincoln LN6 […]