1. State Key Laboratory of Intelligent Green Vehicle and Mobility, Tsinghua University, Beijing 100084, China
2. Suzhou Automobile Research Institute (Xiangcheng), Tsinghua University, Suzhou 215133, China
3. College of Mechanical and Electrical Engineering, Hebei Agricultural University, Baoding 071001, China
4. Key Laboratory for Bionics Engineering of Education Ministry, Jilin University, Changchun 130022, China
5. Key Laboratory of Transportation Industry for Transport Vehicle Detection, Diagnosis and Maintenance Technology, Jinan 250357, China