Acknowledgments We are indebted to the Associate Editor and our three anonymous referees for their thoughtful comments that have helped substantially improve this work. This research has been substantially supported by the research grants from the National Natural Science Foundation Council of China (51408058, 51338002, and 51508041), and Open Fund of Engineering Research Center of Catastrophic Prophylaxis and Treatment of Road & Traffic Safety(Changsha University of Science & Technology), Ministry of Education, under grant number kfj130301.