1. Changsha Intelligent Driving Institute, Hunan, Changsha, China
2. School of Electrical and Electronic Engineering, Nanyang Technological University, Jurong West, Singapore
3. Lawrence Berkeley National Laboratory, Applied Mathematics and Computational Research Division, Berkeley, CA, USA
4. Cadence Design Systems, San Jose, CA, USA
5. Department of Electrical Engineering and Computer Science, University of Michigan, Ann Arbor, MI, USA