1. State Key Laboratory of Automotive Safety and Energy, School of Vehicle and Mobility, Tsinghua University, Beijing, China
2. State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin, China
3. Beijing Key Laboratory for Cooperative Vehicle Infrastructure Systems and Safety Control, Beihang University, Beijing, China
4. State Key Laboratory of Intelligent Technology and the Systems Department of Computer Science and Technology, Tsinghua University, Beijing, China