1. Intelligent Transport Systems Research Center, Wuhan University of Technology, Wuhan 430063, China
2. CATARC (Tianjin) Automotive Information Consulting Co., Ltd., Beijing 100011, China
3. School of Mechanical and Electronic Engineering, Wuhan University of Technology, Wuhan 430063, China
4. California PATH, University of California, Berkeley, CA 94804-4684, USA