1. State Key Laboratory of Automotive, Safety and Energy, School of Vehicle and Mobility, Tsinghua University, Beijing 100084, China;
2. School of Mechanical and Power Engineering, Nanjing Tech University, Nanjing 211816, China
3. The Joint Laboratory for Internet of Vehicles, Ministry of Education-China Mobile Communications Corporation, Beijing 100084, China
4. State Key Laboratory of Automotive, Safety and Energy, School of Vehicle and Mobility, Tsinghua University, Beijing 100084, China
5. Beijing Aerospace UAV System Engineering Research Institute, Beijing 100094, China