This research work is jointly sponsored by Hunan Provincial Natural Science Foundation of China ( 2023JJ41056 ), Hunan Provincial Department of Education Project, China ( 21B0273 ) and the Open Research Fund of Vehicle Measurement, Control and Safety Key Laboratory of Sichuan Province, Xihua University ( QCCK2023-007 ). The authors appreciate the reviewers and the editor for their careful reading and many constructive comments and suggestions on improving the manuscript.