1. College of Automobile and Mechanical Engineering, Changsha University of Science and Technology, Changsha 410000, China
2. State Key Laboratory of Automobile Safety and Energy Conservation, Tsinghua University, Beijing 100000, China
3. State Key Laboratory of Automobile Simulation and Control, Jilin University, Changchun 130025, China
4. Key Laboratory of Traffic Safety on Track of Ministry of Education, School of Traffic and Transportation Engineering, Central South University, Changsha 410000, China