This study is supported by the National Nature Science Foundation of China (No. 51201022 ), China Postdoctoral Science Foundation (No. 2013M542555 ), the Science & Technology Program of Hunan Province (No. 2014FJ6027 ), the Science & Technology Program of Changsha (No. K1303017-11 ), open Fund of Hunan Province Key Laboratory of Safety Design and Reliability Technology for Engineering Vehicle (No. KF1509 ) and open Fund of Key Laboratory of Special Environment Road Engineering of Hunan Province ( kfj110406 ) in Changsha University of Science & Technology.