This present work is financially supported by National Natural Science Foundation of China Grant Nos. 51406017 , 51206148 , 51476145 , 51476146 , 51776188 and 51506079 , Key Laboratory Open Research Subject of Vehicle Measurement, Control and Safety of Sichuan Province ( szjj 2016-080 ) and Jiangsu University of Science and Technology and Changsha University of Science and Technology . This financial support is gratefully acknowledged.