[1] Minist Educ, Key Lab Intelligent Transportat Technol & Syst, Beijing 100191, Peoples R China
[2] Beihang Univ, Sch Transportat Sci & Engn, Beijing 100191, Peoples R China
[3] Chalmers Univ Technol, Dept Architecture & Civil Engn, S-41296 Gothenburg, Sweden
[4] Tsinghua Univ, Sch Vehicle & Mobil, State Key Lab Automot Safety & Energy, Beijing 100084, Peoples R China