*Limitations*

The paper is subject to the following limitations:


modelling by fine-tuning the model parameters. Only after finding the best fit does the quality assessment become complete and can be directly compared with another model.

•Limitations for vehicle contours: According to the literature, the Jensen–Shannon divergence can be extended to a multivariate space with independent components, which allows for the comparison of multivariate random variables, making it possible to consider the contour of the vehicle. However, in this paper, we focused on the development of the methodology and data where the results are based on included one type of target vehicle. Hence, the difference of the rear wall of different vehicles can not be explicitly taken into account.

These limitations will be addressed in future research.
