This research was funded by the National Natural Science Foundation of China (52178415), Key Scientific Research Project of Hunan Provincial Department of Education ( 23A0246), Natural Science Foundation of Hunan Province (2021JJ20042), National Key R&D Program of China (2021YFB2601200), Key technology project of transportation industry (2022-MS5-125) and the Postgraduate Science Research Innovation Project of Changsha University of Science and Technology (CLSJCX23019).