This work was supported by the National Natural Science Foundation of China ( 51775056 ), the Science and Technology Planning Project of Guangzhou City , China (No. 201704020142 ), the Natural Science Foundation of Hunan Province ( 2018JJ3544 ) and the China Scholarship Council (CSC). The authors would like to thank these experts from Traffic Management Research Institute of the Ministry of Public Security , Tongji University, China Automotive Technology & Research Center, Academy of forensic science, Yuntong center of judicial expertise, Shandong Jiaotong University and Guangdong police college.