1. College of Instrumentation & Electrical Engineering, Jilin University, Changchun 130061, China
2. Jilin Yugong Intelligent Technology Co. Ltd., Changchun 130012, China
3. Intelligent Connected Vehicle Development Institute, China First Automobile Works Group Corporation, Changchun 130011, China
4. State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun 130022, China