Acknowledgements This work was supported by the National Natural Science Foundation of China (51478054 and 51608053), Natural Science Foundation of Hunan Province (2017JJ3335), the National Key Research and Development Program of China (2017YFC0805300), Open Fund of State Engineering Laboratory of Highway Maintenance Technology (Changsha University of Science and Technology) (kfj150103), Open Fund of Engineering Research Center of Catastrophic Prophylaxis and Treatment of Road & Traffic Safety of Ministry of Education (Changsha University of Science & Technology) (kfj20160401), Jiangxi Communications Department Program (2013C0011) and the Scientific Research Fund of Hunan Provincial Education Department (15C0043), Key Project of Education Department of Hunan Province (17A008).