1. Graduate School of Engineering, Chiba University, Yayoi-cho 1-33, Inage-ku, Chiba 263-8522, Japan
2. Huizhou Desay SV Automotive Co., Ltd., No. 6, Huitai North Road, Huinan Technology Park, Huizhou 516006, China
3. College of Mechanical and Vehicle Engineering, Hunan University, Lushan Road (S), Yuelu District, Changsha 410082, China
4. Division of Design Science, Faculty of Engineering, Chiba University, Yayoi-cho 1-33, Inage-ku, Chiba 263-8522, Japan