[1] Gwangju Inst Sci & Technol GIST, Sch Mech Engn, Gwangju 61005, South Korea
[2] Toyota Cent Res & Dev Labs Inc, 41-1 Yokomichi, Nagakute, Aichi 4801192, Japan
[3] Toyota Res Inst North Amer, 1555 Woodridge Ave, Ann Arbor, MI 48105 USA
[4] Yonsei Univ, Sch Mech Engn, Seoul 03722, South Korea
[5] Hanyang Univ, Dept Automot Engn, Seoul 04763, South Korea