1. College of Mathematics, Taiyuan University of Technology, Taiyuan, Shanxi 030024, P. R. China
2. Key Laboratory of Traffic Safety on Track of Minister of Education, School of Transportation Engineering, Central South University, Changsha, Hunan 410076, P. R. China
3. Department of Aerospace Engineering and Engineering Mechanics, University of Cincinnati, Cincinnati, OH 45221-0070, USA
4. College of Mathematic, Taiyuan, Shanxi 030024, P. R. China