1. State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun130025, China
2. China Automotive Technology & Research Center (CATARC) Co. Ltd, Tianjin300000, China
3. College of Intelligence and Computing, Tianjin University, Tianjin300000, China
4. School of Mechanical and Vehicular Engineering, Jilin Engineering Normal University, Changchun130052, Jilin, China