[1] Univ Elect Sci & Technol China, Sch Automat Engn, Chengdu 611731, Peoples R China
[2] Univ Elect Sci & Technol China, Inst Elect Vehicle Driving Syst & Safety Technol, Chengdu 611731, Peoples R China
[3] Chongqing Changan Automobile Technol Co Ltd, Intelligent Res Inst, Chongqing 400020, Peoples R China
[4] Univ Elect Sci & Technol China, Sch Comp Sci & Engn, Chengdu 611731, Peoples R China
[5] Univ Buner, Dept Comp Sci, Khyber Pakhtunkhwa 19290, Pakistan