1. Control and Simulation Center, Harbin Institute of Technology, Harbin, China;
2. State Key Laboratory of Automotive Safety & Energy, School of Vehicle and Mobility, Tsinghua University, Beijing, China;
3. State Key Laboratory of Vehicle NVH and Safety Technology, China Automotive Engineering Research Institute Co., Ltd, Chongqing, China;
4. Institute for Transport Studies, University of Leeds, Leeds, UK;
5. Road Safety Research Center, Research Institute of Highway Ministry of Transport, Beijing, China;
6. Sichuan Key Laboratory of Automotive Control and Safety, Xihua University, Chengdu, China