1. Department of Electrical, Electronic and Telecommunication Engineering (DITEN), University of Genoa, Via Opera Pia 11A, 16145 Genoa, Italy
2. WMG, University of Warwick, Coventry CV4 7AL, UK
3. Institute for Automotive Engineering (IKA), RWTH Aachen University, Steinbachstr. 7, 52074 Aachen, Germany