Joshué Pérez Rastelli 2 and Vicente Gomez-Garay 1 1 System Engineering and Automation Department, University of the Basque Country (UPV/EHU), 48013 Bilbao, Spain; vicente.gomez@ehu.es 2 Automotive Department of Tecnalia Research and Innovation, 20009 Donostia - San Sebastián, Spain; joshue....