1. School of Navigation, Wuhan University of Technology, Wuhan, China
2. Intelligent Transportation Systems Research Center, Wuhan University of Technology, Wuhan, China
3. School of Electrical and Information Engineering, Wuhan Institute of Technology, Wuhan, China
4. Department of Mechanical Engineering, University College London, London, U.K
5. China Nanhu Academy of Electronics and Information Technology, Jiaxing, China
6. Department of Electrical and Computer Engineering, George Mason University, Fairfax, VA, USA