I. Introduction
Nowadays, a great deal of traffic data collected from various types of traffic sensors brings massive benefits to intelligent transportation system (ITS). Among them, as the most comprehensive and specific type of traffic data, vehicle trajectory data contains a lot of temporal and spatial information of traffic flow. It is of great significance to deconstruct the operation of the traffic network based on vehicle trajectory data such as global position system (GPS) data, radio frequency identification (RFID) and license plate recognition (LPR) data. In which GPS data was applied to engineering practice earlier, and was widely studied by many researchers and engineers due to its high acquisition density.