Abstract :
Due to a production error, a premature version of the paper (ibid., vol. 14, no. 2, pp. 837-846, Jun. 2013) was paginated and published. This published version should not be cited in future research. The correct version of the paper has been added as supplementary material to the paper on the IEEE Transactions on Intelligent Transportation Systems sections of IEEE Xplore (http://ieeexplore.ieee.org).