[1] Beihang Univ, Sch Transportat Sci & Engn, Beijing 100191, Peoples R China
[2] Tsinghua Univ, State Key Lab Automot Safety & Energy, Beijing 100084, Peoples R China
[3] Beijing Univ Chem Technol, Coll Informat Sci & Technol, Beijing 100029, Peoples R China
[4] Tsinghua Univ, Sch Vehicle & Mobil, Beijing 100084, Peoples R China
[5] China Univ Min & Technol Beijing, Comp Sci & Technol, Beijing 100083, Peoples R China
[6] Tsinghua Univ, Dept Comp Sci & Technol, Beijing 100084, Peoples R China