1. University of Michigan—Shanghai Jiao Tong University Joint Institute, Shanghai Jiao Tong University, Shanghai 200240, China
2. University of Michigan—Shanghai Jiao Tong University Joint Institute, Shanghai Jiao Tong University, Shanghai 200240, China; National Engineering Laboratory for Automotive Electronic Control Technology, Shanghai Jiao Tong University, Shanghai 200240, China e-mail:
3. National Engineering Laboratory for Automotive Electronic Control Technology, Shanghai Jiao Tong University, Shanghai 200240, China