1. State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun 130022, China
2. School of Electrical Engineering and Automation, Hefei University of Technology, Hefei 230009, China
3. Zhengzhou Yutong Bus Co., Ltd., Zhengzhou 450016, China
4. School of Mechanical and Aerospace Engineering, Jilin University, Changchun 130022, China