Automotive Engineering Research Institute Jiangsu University Zhenjiang 212013 China;
School of Automotive and Transportation Engineering Jiangsu University Zhenjiang 212013 China;
Jiangsu Zhixing Future Automobile Research Institute Nanjing 210000 China;
Department of Mechanical Engineering Shizuoka University of Science and Technology Shizuoka Bagu 437-0032 Japan;