1. Hebei Polytechnic Institute,Department of Artificial Intelligence and Big Data,Shijiazhuang,China
2. Shijiazhuang Tiedao University,School of Mechanical Engineering,Shijiazhuang,China
3. Northeastern University,Faculty of Robot Science and Engineering,Shenyang,China
4. Hebei Provincial University Road Traffic Perception,Intelligent Application Technology Research and Development Center,Shijiazhuang,China
5. Hebei Jiaotong Vocational and Technical College,Shijiazhuang,China