1. Joint SDU-NTU Centre for Artificial Intelligence Research, School of Software, Shandong University, Jinan 250101, China
2. Key Laboratory of High Efficiency and Clean Mechanical Manufacture, School of Mechanical Engineering, Shandong University, Jinan 250061, China
3. School of Mechanical Engineering, Shandong University, Jinan 250061, China
4. China National Heavy Duty Truck Group, Jinan 250013, China