1. Beijing Information Science and Technology University, Collaborative Innovation Center of Electric Vehicles Institute of Electromechanical Engineering, , Beijing 100192 , China
2. Beijing Information Science and Technology University Institute of Electromechanical Engineering, , Beijing 100192 , China
3. Beijing Institute of Technology Shenzhen Automotive Research Institute, , Shenzhen 518118 , China
4. Research Institute of Highway, Ministry of Transport Key Laboratory of Operation Safety Technology on Transport Vehicles, Ministry of Communication, , Beijing 100088 , China