1. Beijing Institute of Technology, School of Mechanical Engineering, Intelligent Vehicle Research Institute, 5 South Zhong Guan Cun Street, Haidian District, Beijing 100081, China
2. Advanced Technology Research Institute, Beijing Institute of Technology, Jinan 250001, Shandong, China
3. University of California, Berkeley, 1357 South 46th Street, Richmond, CA 94804, USA
4. Shandong Hi-Speed Construction Management Group Co., Ltd., Jinan 250001, Shandong, China