1. School of Automotive Studies, Tongji University, Shanghai, China
2. Department of Automation, BNRist, Tsinghua University, Beijing, China
3. Department of Automation, Tsinghua University, Beijing, China
4. Department of Engineering, University of Cambridge, Cambridge, U.K.
5. College of Electronics and Information Engineering, Tongji University, Shanghai, China
6. Department of Mechanical and Mechatronics Engineering, University of Waterloo, Waterloo, ON, Canada