1. School of Electronic and Information Engineering, Beihang University, No. 37 Xue Yuan Lu, Hai Dian Zone, Beijing, China
2. Hefei Innovation Research Institute, Beihang University, No. A1 Intelligent Industrial Park of New Station High-Tech Industrial Development Zone, Hefei, Anhui, China
3. Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems and Safety Control, School of Transportation Science and Engineering, Beihang University, No. 37 Xue Yuan Lu, Hai Dian Zone, Beijing, China