[1] Imperial Coll London, Dept Mech Engn, London SW7 2AZ, England
[2] Coventry Univ, Inst Future Transport & Cities, Coventry CV1 5FB, England
[3] Faraday Inst, Harwell Sci & Innovat Campus, Didcot OX11 0RA, England
[4] Imperial Coll London, Dept Mech Engn, London SW7 2AZ, England
[5] Rimac Technol R&D UK Ltd, Coventry CV34 6RG, England