1. School of Automotive Engineering, Changshu Institute of Technology, Suzhou, China
2. School of Mechanical and Electrical Engineering, Changchun University of Technology, Changchun, China
3. The State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing, China
4. Changshu Institute of Technology, Suzhou, China
5. Baidu Technology (Beijing) Company Ltd., Beijing, China
6. Ziqing Intelligent Driving Technology (Beijing) Company Ltd., Beijing, China