1. School of Vehicle and Mobility, Tsinghua University, Beijing, China
2. Key Laboratory of Road and Traffic Engineering of the State Ministry of Education and the College of Transportation Engineering, Tongji University, Shanghai, China
3. Chinese Academy of Engineering, Tsinghua University, Beijing, China
4. College of Electrical Engineering, Qingdao University, Qingdao, China
5. Institute of Rail Transit, Tongji University, Shanghai, China