Manuscript received June 9, 2020; revised August 28, 2020; accepted September 18, 2020. Date of publication September 29, 2020; date of current version January 22, 2021. This work was supported in part by the National Natural Science Foundation of China under Grants 51875054 and U1864212. Recommended for publication by Associate Editor L. Dalessandro. (Xiaosong Hu and Wenxue Liu contributed equally to this work.) (Corresponding authors: Xiaosong Hu; Yi Xie.) Xiaosong Hu, Wenxue Liu, and Yi Xie are with the Department of Automotive Engineering, Chongqing University, Chongqing 400044, China (e-mail: xiaosonghu@ieee.org; wenxueliuu@cqu.edu.cn; claudexie@cqu.edu.cn).
