1. University of Michigan—Shanghai Jiao Tong University Joint Institute, Shanghai Jiao Tong University, Shanghai 200240, China
2. SAIC Motor Technical Centre, Shanghai 201804, China
3. University of Michigan—Shanghai Jiao Tong University Joint Institute, Shanghai Jiao Tong University, Shanghai 200240, China;
4. National Engineering Laboratory for Automotive Electronic Control Technology, Shanghai Jiao Tong University, Shanghai 200240, China e-mail:
5. National Engineering Laboratory for Automotive Electronic Control Technology, Shanghai Jiao Tong University, Shanghai 200240, China