1. Unmanned Vehicle Research Center, China North Vehicle Research Institute, Beijing 100072, China
2. China North Artificial Intelligence & Innovation Research Institute, Beijing 100072, China
3. Collective Intelligence & Collaboration Laboratory, Beijing 100072, China
4. Beijing Institute of Technology, School of Automation, Beijing 100081, China
5. School of Mechanical Engineering, Dalian Jiaotong University, Dalian 116028, China
6. School of Mechanical Engineering, Dalian University of Technology, Dalian 116024, China