This work was supported by National Natural Science Foundation of China: [grant numbers 5181102194,51838001,51878070,51878078]; Excellent Youth Foundation of Natural Science Foundation of Hunan Province: [grant number 2018JJ1026]; Hunan Provincial Innovation Foundation For Postgraduate: [grant number CX2018B529]; Open Fund of Engineering Research Center of Catastrophic Prophylaxis and Treatment of Road & Traffic Safety of Ministry of Education (Changsha University of Science & Technology): [grant number kfj170404]; Key Project of Education Department of Hunan Province: [grant number 17A008]; National Key Research and Development Program of China: [grant number 2017YFC0805307].