1. School of Automotive Studies, Tongji University, Shanghai, China
2. School of Automotive Studies and the Shanghai Institute of Intelligent Science and Technology, Tongji University, Shanghai, China
3. College of Electronic and Information Engineering and the Shanghai Institute of Intelligent Science and Technology, Tongji University, Shanghai, China
4. State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun, China
5. College of Electronics and Information Engineering, Tongji University, Shanghai, China