[1] Univ Surrey, Dept Comp Sci, Guildford GU2 7XH, Surrey, England
[2] Bielefeld Univ, Fac Technol, D-33619 Bielefeld, Germany
[3] Univ Surrey, Dept Comp Sci, Guildforld GU2 7XH, England
[4] Honda R&D Europe Deutschland GmbH, Dept Adv Vehicle Technol Res, D-63073 Offenbach, Germany
[5] Honda Res Inst Europe, Dept Optimizat & Creat, D-63073 Offenbach, Germany