1. 1Corresponding author: Institute of Vehicle Science and Mobile Machines, Universität Karlsruhe (TH), Kaiserstrasse 12, 76128 Karlsruhe, Germany. Email: martin.giessler@kit.edu
2. 2Institute of Vehicle Science and Mobile Machines, Universität Karlsruhe (TH), Kaiserstrasse 12, 76128 Karlsruhe, Germany. Email: frank.gauterin@kit.edu
3. 3Technology Center, Continental AG, Jädekamp 30, 30419 Hannover, Germany. Email: klaus.wiese@conti.de
4. 4Technology Center, Continental AG, Jädekamp 30, 30419 Hannover, Germany. Email: burkhard.wies@conti.de