1. School of Microelectronics and Communication Engineering, Chongqing University, Chongqing 400044, China
2. Key Laboratory of Advanced Manufacture Technology for Automobile Parts (Chongqing University of Technology), Ministry of Education, Chongqing 400054, China
3. School of Computer Science, Chongqing University, Chongqing 400044, China
4. Chongqing Engineering Research Center of Research and Testing for Automated Driving System and Intelligent Connected Vehicle, Chongqing 401122, China
5. Chongqing Vehicle Test & Research Institute, Chongqing 401122, China