1. School of Automotive Studies,
Tongji University, Shanghai 201804, China.
2. Frontiers Science Center for Intelligent Autonomous Systems,
Tongji University, Shanghai 201210, China.
3. SAIC Intelligent Technology, Shanghai 201805, China.
4. College of Artificial Intelligence,
Jilin University, Changchun 130012, China.
5. Research and Advanced Engineering, Ford Motor Company, Dearborn, MI 48124, USA.
6. College of Electronic and Information Engineering,
Tongji University, Shanghai 201804, China.
7. National Key Laboratory of Autonomous Intelligent Unmanned Systems, Shanghai 201210, China.