School of Automobile Chang'an University Xi'an 710064 China;
School of Automobile Chang'an University Xi'an 710064 China;
School of Civil and Transportation Engineering Qinghai Nationalities University Xining 810007 China;
Department of Mechanical Engineering University of Birmingham Edgbaston B15 2TT UK;
School of Automobile Chang'an University Xi'an 710064 China;
School of Automobile Chang'an University Xi'an 710064 China;