[1] Tsinghua Univ, Sch Vehicle & Mobil, Beijing, Peoples R China
[2] Nanyang Technol Univ, Sch Mech & Aerosp Engn, Singapore, Singapore
[3] Nanyang Technol Univ, Future Mobil Solut, Singapore, Singapore
[4] Chongqing Univ, Dept Mech & Vehicle Engn, Chongqing, Peoples R China
[5] Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing, Peoples R China
[6] Indiana Univ Purdue Univ, Purdue Sch Engn & Technol, Dept Elect & Comp Engn, Indianapolis, IN 46202 USA
[7] Univ Waterloo, Dept Mech & Mechatron Engn, Waterloo, ON, Canada
[8] Delft Univ Technol, Dept Transport & Planning, Res Lab Elect & Automated Transport hEAT Lab, Delft, Netherlands