Muhammed O. Sayin Chung-Wei Lin Eunsuk Kang Shinichi Shiraishi Tamer Basar 4995-5009 2020 21 IEEE Trans. Intell. Transp. Syst. 12 https://doi.org/10.1109/TITS.2019.2946356 db/journals/tits/tits21.html#SayinLKSB20