The author(s) disclosed receipt of the following financial support for the research, authorship, and/or publication of this article: The financial support of the National Basic Research Program of China (973 Program, Grant No. 2015CB057706), the National Natural Science Foundation of China (Grant Nos 51478050 and 51378081), the Natural Science Foundation of Hunan Province (Grant No. 17JJ486), the Excellent Young Research Program by the Department of Education at Hunan Province (15B015), and the Open Fund of Industry Key Laboratory of Traffic Infrastructure Security Risk Management (CSUST, Grant No. 16BCX08) are gratefully acknowledged.