1. School of Transportation and Vehicle Engineering, Shandong University of Technology, Zibo 255000, China
2. State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing 100084, China
3. Department of Civil and Environmental Engineering, Rensselaer Polytechnic Institute (RPI), 110 Eighth Street, Room JEC 4034, Troy, NY 12180-3590, USA