ENVIRONMENTAL SENSING DEVICE AND INFORMATION ACQUIRING METHOD APPLIED TO ENVIRONMENTAL SENSING DEVICE

Disclosed are embodiments of environmental sensing devices and information acquiring methods applied to environmental sensing devices. In some embodiments, an environmental sensing device includes a camera sensor, a laser radar sensor that are integrated, and a control unit. The control unit is connected simultaneously to the camera sensor and the laser radar sensor. The control unit is used for simultaneously entering a trigger signal to the camera sensor and the laser radar sensor. The design of integrating the camera sensor and the laser radar sensor avoids the problems such as poor contact and noise generation that easily occur in a high-vibration and high-interference vehicle environment, and can precisely trigger the camera sensor and the laser radar sensor simultaneously, so as to obtain high-quality fused data, thereby improving the accuracy of environmental sensing. As a result, the camera sensor and the laser radar sensor have a consistent overlapping field of view. 1. An environmental sensing device , comprising:an integrated camera sensor;a laser radar sensor; and 'wherein the control unit is configured to simultaneously enter a trigger signal to the camera sensor and the laser radar sensor so as to simultaneously trigger the camera sensor and the laser radar sensor to collect an image and laser point cloud data.', 'a control unit connected simultaneously to the camera sensor and the laser radar sensor,'}2. The environmental sensing device according to claim 1 , wherein the camera sensor and the laser radar sensor are rigidly connected.3. The environmental sensing device according to claim 2 , wherein trigger signal input terminals of the camera sensor and the laser radar sensor are connected to a single trigger signal input line so as to receive the trigger signal sent from the control unit through the trigger signal input line.4. The environmental sensing device according to claim 3 , wherein the control unit comprises:a clock subunit for generating ...

METHOD AND SYSTEM FOR TESTING VEHICLE

The present disclosure discloses methods and systems for testing the vehicle. In some embodiments, a method includes receiving, by an emulation server, a test task and a test scenario set required for executing the test task sent from a client; distributing, by the emulation server, each of the test scenarios to first emulation executors respectively, and sending the test task to each of the first emulation executors; acquiring, by the emulation server, a test result of the test task from each of the first emulation executors; and comparing, by the emulation server, the acquired test result with a preset test standard to generate feedback information of the test task, and sending the feedback information to the client. 1. A method for testing a vehicle , comprising:receiving, by an emulation server, a test task and a test scenario set configured to execute the test task sent from a client, the test scenario set comprising a plurality of test scenarios, and the client configured to provide a user with a man-machine interface configured to cause the user to configure the test task at the client;distributing, by the emulation server, each of the test scenarios to a plurality of first emulation executors respectively, and sending the test task to each of the first emulation executors, such that each of the first emulation executors executes the test task in parallel in one of the test scenarios;acquiring, by the emulation server, a test result of the test task from each of the first emulation executors; andcomparing, by the emulation server, the acquired test result with a preset test standard to generate feedback information of the test task, and sending the feedback information to the client.2. The method according to claim 1 , further comprising:selecting, by the client, the test scenario set from a test scenario module, wherein the test scenario module is configured to store the test scenarios and scenario data of the test scenarios in a categorical approach.3. The ...

REAL VEHICLE IN-THE-LOOP TEST SYSTEM AND METHOD

Embodiments of real vehicle in-the-loop test systems and methods are disclosed. The system can include a sensor configured to acquire state information and location information of a real vehicle and environment information of an emulation test environment where the vehicle is located; an interaction module configured to acquire a test task in response to the instruction entered by a user, an emulation test environment of the test task comprises a test situation, a map, and an intelligent agent; a vehicle sensing module configured to acquire the state information, the location information, and the environment information from the sensor; and a test task control module configured to receive the test task from the interaction module, the state information and the location information from the vehicle sensing module and load them to the emulation test environment, control the real vehicle to execute the test task, and generate and send the test result. 1. A real vehicle in-the-loop test system , comprising:a sensor, mounted on a real vehicle, and configured to acquire state information and location information of the real vehicle and environment information of an emulation test environment where the real vehicle is located;an interaction module configured to provide a man-machine interaction interface for a user and to acquire a test task corresponding to an instruction in response to the instruction entered by the user, the test task comprising a test content and an emulation test environment, the emulation test environment comprising a test situation, a map, and an intelligent agent;a vehicle sensing module configured to acquire the state information, the location information, and the environment information from the sensor; anda test task control module configured to receive the test task from the interaction module, the state information and the location information of the real vehicle from the vehicle sensing module, and to load the state information and the ...

METHOD AND APPARATUS OF BUILDING AGENT FOR TEST OF UNMANNED VEHICLE

The present invention discloses a method and apparatus for building an agent for test of an unmanned vehicle. The method comprises: obtaining feature information of an agent to be built; generating an agent according to the obtained feature information and verify whether a behavior of the agent is reasonable; considering the agent as a built agent if the behavior of the agent is determined reasonable. The solution of the present invention can be applied to quickly build an agent that meets needs of test of the unmanned vehicle. 1. A method for building an agent for test of an unmanned vehicle , wherein the method comprises:obtaining feature information of an agent to be built;generating an agent according to the feature information and verifying whether a behavior of the agent is reasonable;considering the agent as a built agent if the behavior of the agent is determined reasonable.2. The method according to claim 1 , wherein the feature information comprises attribute information and behavioral information.3. The method according to claim 2 , whereinthe attribute information comprises a class to which it belongs to, length, width, height, and an initial state;the behavioral information comprises response behavior and a trigger condition of response behavior.4. The method according to claim 2 , whereinthe obtaining feature information of an agent to be built comprises:obtaining attribute information selected by the user from a pre-generated agent attribute information repository; andobtaining behavioral information selected by the user from a pre-generated agent behavioral information repository.5. The method according to claim 1 , whereinthe verifying whether the behavior of the agent is reasonable comprises:uploading a map; andplaying back the behavior of the agent in the map.6. The method according to claim 1 , whereinthe method further comprises:storing feature information of the agent in a predetermined format if the agent's behavior is determined reasonable.7. ...

METHOD AND APPARATUS FOR INDICATING VEHICLE MOVING STATE

The present disclosure discloses embodiments of methods and apparatuses for indicating a vehicle moving state. In some embodiments, a method includes receiving a vehicle driving instruction; detecting a driving environment outside the vehicle; determining a driving strategy for executing the vehicle driving instruction in the driving environment; determining a driving track instructed by the driving strategy; and projecting the driving track on a road when the driving environment satisfies a preset condition. This implementation can clearly indicate the position that a vehicle is about to occupy, thereby improving the effect of interaction between the vehicle and other vehicles or pedestrians. 1. A method for indicating a vehicle moving state , comprising:receiving a vehicle driving instruction;detecting a driving environment outside the vehicle;determining a driving strategy for executing the vehicle driving instruction in the driving environment;determining a driving track instructed by the driving strategy; andprojecting the driving track on a road when the driving environment satisfies a preset condition.2. The method according to claim 1 , wherein detecting the driving environment outside the vehicle comprises:detecting a current position of the vehicle, information about a road the vehicle being on, and a position of an obstacle outside the vehicle by using a detecting apparatus disposed on the vehicle.3. The method according to claim 2 , wherein determining the driving strategy for executing the vehicle driving instruction in the driving environment comprises:determining a target position to be reached by executing the vehicle driving instruction; anddetermining a vehicle driving distance and a vehicle turning angle required for avoiding the obstacle during driving from the current position to the target position, based on the current position, the position of the obstacle, and the target position.4. The method according to claim 3 , wherein determining the ...

Vehicle positioning method and system based on laser device

The present application discloses a positioning method for a movable platform, including: detecting, by a laser positioning system (LPS) mounted on the movable platform, a plurality of reflectors mounted on a target object, wherein the movable platform is moving; calculating in real-time, by the LPS, according to the current position information, relative positions of the plurality of reflectors with respect to the LPS; and obtaining, by the LPS, a relative position of the movable platform with respect to the target object based on the relative positions of the plurality of reflectors with respect to the LPS. The present application also discloses positioning system that performs the positioning method.

METHOD AND APPARATUS FOR DETECTING VEHICLE CONTOUR BASED ON POINT CLOUD DATA

The present application discloses a method and apparatus for detecting a vehicle contour based on point cloud data. The method includes: acquiring to-be-trained point cloud data; generating label data corresponding to points in the to-be-trained point cloud data in response to labeling on the points in the to-be-trained point cloud, the labeling used to indicate whether each of the points in the to-be-trained point cloud data is on a vehicle contour; training a fully convolutional neural network model based on the points in the to-be-trained point cloud data and the label data corresponding to the points in the to-be-trained point cloud data, to obtain a vehicle detection model; and acquiring to-be-detected point cloud data, and obtaining a detection result corresponding to each to-be-detected point in the to-be-detected point cloud data based on the vehicle detection model. The implementation may achieve an accurate detection of the vehicle contour. 1. A method for detecting a vehicle contour based on point cloud data , comprising:acquiring to-be-trained point cloud data;generating label data corresponding to points in the to-be-trained point cloud data in response to labeling on the points in the to-be-trained point cloud, the labeling used to indicate whether each of the points in the to-be-trained point cloud data is on a vehicle contour;training a fully convolutional neural network model based on the points in the to-be-trained point cloud data and the label data corresponding to the points in the to-be-trained point cloud data, to obtain a vehicle detection model; andacquiring to-be-detected point cloud data, and obtaining a detection result corresponding to each to-be-detected point in the to-be-detected point cloud data based on the vehicle detection model.2. The method according to claim 1 , wherein the acquiring of to-be-trained point cloud data comprises:mapping to-be-trained three-dimensional data, collected by a point cloud data collecting device, to ...

Method And Apparatus For Generating High Precision Map

The present application discloses a method and an apparatus for generating a high precision map. According to an embodiment, the method comprises: acquiring three-dimensional (3D) laser point cloud data and information related to a grid map for generating the high precision map; determining position information of each piece of the 3D laser point data of the 3D laser point cloud data in the grid map; rendering each pixel point in the grid map, by using the reflection value of corresponding 3D laser point data of the 3D laser point cloud data, in order to generate each of grid images in the grid map; identifying, by using a machine learning algorithm, traffic information of each of the grid images in the grid map; clustering the traffic information of each of the grid images in the grid map to obtain the traffic information of the grid map; and loading the traffic information of the grid map into the grid map to generate the high precision map. The embodiment implements the generating of a high precision map with a high precision and a plurality of dimensions. 1. A method for generating a high precision map , the method comprising: a row number and a column number of the grid map;', 'a unit pixel length of the grid map indicating a physical length represented by one pixel in the grid map; and', 'a horizontal pixel number and a vertical pixel number of each of the grid images in the grid map;, 'acquiring three-dimensional (3D) laser point cloud data for generating the high precision map and information related to a grid map for generating the high precision map, the 3D laser point cloud data comprising at least one piece of 3D laser point data containing a 3D coordinate and a reflection value, the grid map being formed of grid images arranged in M rows and N columns, each of the grid images having an equivalent size, both M and N being positive integers, the information related to the grid map comprising a row value and a column value of a grid image, where the 3D ...

VEHICLE NAVIGATION METHOD AND APPARATUS

The present application discloses a vehicle navigation method and apparatus. In some embodiments, the method includes: collecting a road condition image; deciding whether a lane currently traveled by a vehicle is a navigation lane; determining a lane object in the road condition image on which a guiding track object is to be superimposed and displayed, the guiding track object adapted to instruct the vehicle to travel along the lane currently traveled by the vehicle, or to instruct the vehicle to turn to the navigation lane; and superimposing and displaying the guiding track object on the determined lane object. According to the current vehicle position and the navigation route, by superimposing and displaying the guiding track object on the lane traveled by the vehicle, the driver is intuitively guided to drive the vehicle in the lane where the vehicle should be driven, thus navigating the vehicle more accurately. 1. A vehicle navigation method comprising:collecting a road condition image through a camera;deciding whether a lane currently traveled by a vehicle is a navigation lane, the navigation lane being a recommended driving lane as defined in navigation information;determining, based on a result of the deciding, a lane object in the road condition image on which a guiding track object is to be superimposed and displayed, the guiding track object adapted to instruct the vehicle to travel along the lane currently traveled by the vehicle, or to instruct the vehicle to turn to the navigation lane; andsuperimposing and displaying the guiding track object on the determined lane object.2. The method according to claim 1 , wherein the deciding whether a lane currently traveled by a vehicle is a navigation lane comprises:determining a position of the vehicle;acquiring, from a high precision map, a position of a lane line of a road section where the vehicle is located;determining the lane currently traveled by the vehicle based on the position of the vehicle and the ...

DRIVERLESS VEHICLE CONTROL METHOD, APPARATUS AND SYSTEM

Disclosed embodiments include a driverless vehicle control method, apparatus and system. In some embodiments, method comprises: receiving a vehicle control message of a driverless vehicle, the vehicle control message used to represent vehicle control characteristics of the driverless vehicle; converting the vehicle control message to a vehicle control protocol message, the vehicle control protocol message used to implement a general instruction description for the vehicle control message; generating a vehicle control command based on the vehicle control protocol message; and converting the vehicle control command to a vehicle control instruction corresponding to the vehicle control message, and sending the vehicle control instruction to the driverless vehicle. In this way, the vehicle control message can be described by using a general message instruction, achieving the objective of controlling the driverless vehicle by using a general message instruction. 1. A driverless vehicle control method , comprising:receiving a vehicle control message of a driverless vehicle, the vehicle control message used to represent vehicle control characteristics of the driverless vehicle;converting the vehicle control message to a vehicle control protocol message, the vehicle control protocol message used to implement a general instruction description for the vehicle control message;generating a vehicle control command based on the vehicle control protocol message; andconverting the vehicle control command to a vehicle control instruction corresponding to the vehicle control message, and sending the vehicle control instruction to the driverless vehicle.2. The method according to claim 1 , wherein the converting the vehicle control message to a vehicle control protocol message comprises:parsing the vehicle control message to obtain a message information file, the message information file comprising message content information and signal information; andinputting the message information ...

DRIVERLESS VEHICLE, METHOD, APPARATUS AND SYSTEM FOR POSITIONING DRIVERLESS VEHICLE

Disclosed embodiments include a driverless vehicle, and a method, an apparatus and a system for positioning a driverless vehicle. In some embodiments, the method includes: acquiring first laser point cloud reflection value data matching a current position of the driverless vehicle; converting the first laser point cloud reflection value data into laser point cloud projection data in a horizontal earth plane; determining a first matching probability of the laser point cloud projection data in a predetermined range of a laser point cloud reflection value map by using a position of a predetermined prior positioning position in the laser point cloud reflection value map as an initial position; and determining a position of the driverless vehicle in the laser point cloud reflection value map based on the first matching probability. The implementation can accurately position the current position of the driverless vehicle. 1. A method for positioning a driverless vehicle based on laser point cloud reflection value matching , comprising:acquiring first laser point cloud reflection value data matching a current position of the driverless vehicle, the first laser point cloud reflection value data comprising first coordinates of laser points and laser reflection intensity values corresponding to the laser points in the first laser point cloud reflection value data;converting the first laser point cloud reflection value data into laser point cloud projection data in a horizontal earth plane;determining a first matching probability of the laser point cloud projection data in a predetermined range of a laser point cloud reflection value map by using a position of a predetermined prior positioning position in the laser point cloud reflection value map as an initial position; anddetermining a position of the driverless vehicle in the laser point cloud reflection value map based on the first matching probability.2. The method according to claim 1 , wherein the laser point cloud ...

UNMANNED VEHICLE, METHOD, APPARATUS AND SYSTEM FOR POSITIONING UNMANNED VEHICLE

Disclosed embodiments include an unmanned vehicle, a method, apparatus and system for positioning an unmanned vehicle. In some embodiments, the method includes: acquiring first laser point cloud height value data matching a current position of the unmanned vehicle, the first laser point cloud height value data; converting the first laser point cloud height value data into laser point cloud projection data in a horizontal earth plane; determining a first matching probability of the laser point cloud projection data in a predetermined range of a laser point cloud height value map; and determining a position of the unmanned vehicle in the laser point cloud height value map based on the first matching probability. The embodiment implements an accurate positioning on the current position of the unmanned vehicle. 1. A method for positioning an unmanned vehicle based on a laser point cloud height value matching , comprising:acquiring first laser point cloud height value data matching a current position of the unmanned vehicle, the first laser point cloud height value data comprising first coordinates of laser points and height values corresponding to the laser points within the first laser point cloud height value data;converting the first laser point cloud height value data into laser point cloud projection data in a horizontal earth plane;determining a first matching probability of the laser point cloud projection data in a predetermined range of a laser point cloud height value map by using a position of a predetermined prior positioning position in the laser point cloud height value map as an initial position; anddetermining a position of the unmanned vehicle in the laser point cloud height value map based on the first matching probability.2. The method according to claim 1 , the laser point cloud height value map being generated by:dividing the Earth surface into M×N map areas in a horizontal earth plane of a world coordinate system, the map areas having an identical ...

VEHICLE CONTROL METHOD AND APPARATUS AND METHOD AND APPARATUS FOR ACQUIRING DECISION-MAKING MODEL

The present invention discloses a vehicle control method and apparatus and a method and apparatus for acquiring a decision-making model. The vehicle control method, comprising: during travel of an unmanned vehicle, acquiring current external environment information and map information in real time; determining vehicle state information corresponding to the external environment information and map information acquired each time according to a decision-making model obtained by pre-training and reflecting correspondence relationship between the external environment information, map information and vehicle state information, and controlling a travel state of the unmanned vehicle according to the determined vehicle state information. Application of the solution of the present invention can improve security and reduce the workload. 1. A vehicle control method , comprising:during travel of an unmanned vehicle, acquiring current external environment information and map information in real time;determining vehicle state information corresponding to the external environment information and map information acquired each time according to a decision-making model obtained by pre-training and reflecting correspondence relationship between the external environment information, map information and vehicle state information, and controlling a travel state of the unmanned vehicle according to the determined vehicle state information.2. The vehicle control method according to claim 1 , wherein claim 1 ,the determining the vehicle state information corresponding to the external environment information and map information acquired each time comprises:integrating the external environment information and map information acquired each time as input of the decision-making model, and obtaining the vehicle state information output by the decision-making model.3. The vehicle control method according to claim 1 , wherein claim 1 ,the map information is map information acquired based on a high- ...

Method of building smart vehicle control model, and method and apparatus for controlling smart vehicle

The present invention provides a method of building a smart vehicle control model, and a method and apparatus for controlling a smart vehicle, wherein the method of building a smart vehicle control model comprises: acquiring sample data which comprise corresponding steering wheel turning angles under driving environments; extracting vehicle state features and road condition features from the sample data; using the extracted features to train a neural network model to obtain the smart vehicle control model. The method of controlling smart vehicle comprises: extracting vehicle state features and road condition features of a vehicle to be controlled; inputting the extracted features into the smart vehicle control model to obtain a steering wheel turning angle; controlling the vehicle to be controlled using the steering wheel turning angle. The present invention builds the smart vehicle control model in a machine learning manner, does not require manual parameter regulation and reduces man power costs caused by parameter regulation.

LOCAL TRAJECTORY PLANNING METHOD AND APPARATUS FOR SMART VEHICLES

The present invention provides a local trajectory planning method and apparatus for a smart vehicle, pre-acquiring path planning information from a starting location to a destination; the method comprising: determining a target lane; sampling alternative curves from a current location of the smart vehicle to a target lane according to the path planning information; performing speed planning for the sampled alternative curves according to a current travel environment; selecting one of the alternative curves after the speed planning is performed as a target trajectory. Local trajectory planning of the smart vehicle is achieved through the present invention. 1. A local trajectory planning method for a smart vehicle , wherein path planning information from a starting location to a destination is pre-acquired; the method comprising:determining a target lane;sampling alternative curves from a current location of the smart vehicle to a target lane according to the path planning information;performing speed planning for the sampled alternative curves according to a current travel environment;selecting one of the alternative curves after the speed planning is performed as a target trajectory.2. The method according to claim 1 , wherein the method is executed cyclically or triggered by a specific event.3. The method according to claim 1 , wherein the determining the target lane comprises:acquiring information of the target lane from the path planning information; orperforming behavior decision-making based on the current travel environment, a behavior decision-making result comprising information of the target lane.4. The method according to claim 3 , wherein when the smart vehicle travels to a path having a plurality of lanes claim 3 , executing the performing behavior decision-making based on the current travel environment.5. The method according to claim 3 , wherein the current travel environment includes road factor and surrounding traffic factor;the road factor comprises ...

METHOD AND APPARATUS OF OBTAINING FEATURE INFORMTOIN OF SIMULATED AGENTS

The present invention discloses a method and apparatus of obtaining feature information of a simulated agent. The method further comprises: for each agent class, respectively obtaining feature information of real agents belonging to the class and freely participating in traffic activities, the number of real agents belonging to each class being greater than one; for each agent class, extracting representative feature information from feature information of each real agent belonging to the class, and taking the extracted feature information as feature information of simulated agents belonging to this class. The solution of the present invention may be applied to improve correctness of testing results of unmanned vehicles. 1. A method of obtaining feature information of a simulated agent , wherein the method comprises:for each agent class, respectively obtaining feature information of real agents belonging to the class and freely participating in traffic activities, the number of real agents belonging to each class being greater than one;for each agent class, respectively extracting representative feature information from feature information of each real agent belonging to the class, and taking the extracted feature information as feature information of simulated agents belonging to this class.2. The method according to claim 1 , wherein claim 1 ,the real agents comprise real agents dedicated for testing;the feature information comprise attribute information and behavior information.3. The method according to claim 2 , wherein claim 2 ,the obtaining behavior information of each real agent respectively comprises:during an activity of each real agent, obtaining dynamic tracking information of the real agent in real time;after the activity of each real agent ends up, determining behavior information of the real agent by performing analysis of dynamic tracking information of the real agent.4. The method according to claim 3 , wherein claim 3 ,the behavior information ...

METHOD AND APPARATUS FOR CONSTRUCTING TEST SCENARIO OF UNMANNED VEHICLES

The present invention discloses a method and an apparatus of constructing a test scenario of an unmanned vehicle. The method comprises: obtaining a scenario attribute set by the user; respectively determining a map and an agent matching with the scenario attribute; generating a test scenario according to the determined map and agent. The solution of the present invention can be used to improve the efficiency of constructing the test scenario. 1. A method of constructing a test scenario of an unmanned vehicle , wherein the method comprises:obtaining a scenario attribute set by a user;respectively determining a map and an agent matching with the scenario attribute;generating a test scenario according to the determined map and agent.2. The method according to claim 1 , wherein claim 1 ,before respectively determining a map and an agent matching with the scenario attribute, the method further comprises: obtaining an alternative map repository and an alternative agent repository;the respectively determining a map and an agent matching with the scenario attribute comprises:determining from the alternative map repository a map matching with the scenario attribute; anddetermining from the alternative agent repository an agent matching with the scenario attribute.3. The method according to claim 2 , wherein claim 2 ,the obtaining an alternative map repository and an alternative agent repository comprises:regarding all maps in the pre-generated map management repository as alternative maps to form the alternative map repository;regarding all agents in the pre-generated agent management repository as alternative agents to form the alternative agent repository;or,regarding maps screened out from the map management repository and related to the scenario attribute as alternative maps to form the alternative map repository;regarding agents screened out from the agent management repository and related to the scenario attribute as alternative agents to form the alternative agent ...

VEHICLE POSITIONING METHOD AND SYSTEM BASED ON LASER DEVICE

The present application discloses a positioning method for a movable platform, including: detecting, by a laser positioning system (LPS) mounted on the movable platform, a plurality of reflectors mounted on a target object, wherein the movable platform is moving; calculating in real-time, by the LPS, according to the current position information relative positions of the plurality of reflectors with respect to the LPS; and obtaining, by the LPS, a relative position of the movable platform with respect to the target object based on the relative positions of the plurality of reflectors with respect to the LPS. The present application also discloses positioning system that performs the positioning method. 1. A positioning system , comprising:a movable platform;a Lidar mounted on the movable platform to detect a plurality of reflectors mounted on a target object while the movable platform is moving; and obtain in real-time, according to the current position information, relative positions of the plurality of reflectors with respect to the Lidar; and', 'obtain a relative position of the movable platform with respect to the target object based on the relative positions of the plurality of reflectors with respect to the Lidar., 'at least one processor mounted on the movable platform and in communication with the Lidar and the movable platform to2. The positioning system of claim 1 , wherein the at least one processor further directs the movable platform to move to a target position according to the relative positions of the movable platform with respect to the target object.3. The positioning system of claim 2 , wherein to direct the movable platform to move to the target position the at least one processor further:determines a comparison result by comparing a target relative position with the relative position of the movable platform with respect to the target object;directs the movable platform to keep moving until the comparison result shows that the target relative ...

Method and apparatus for generating high precision map

The present application discloses a method and an apparatus for generating a high precision map. According to an embodiment, the method comprises: acquiring three-dimensional (3D) laser point cloud data and information related to a grid map for generating the high precision map; determining position information of each piece of the 3D laser point data of the 3D laser point cloud data in the grid map; rendering each pixel point in the grid map, by using the reflection value of corresponding 3D laser point data of the 3D laser point cloud data, in order to generate each of grid images in the grid map; identifying, by using a machine learning algorithm, traffic information of each of the grid images in the grid map; clustering the traffic information of each of the grid images in the grid map to obtain the traffic information of the grid map; and loading the traffic information of the grid map into the grid map to generate the high precision map. The embodiment implements the generating of a high precision map with a high precision and a plurality of dimensions.

Tela no tejida que tiene propiedades de alta resistencia termica y barrera.

Telas no tejidas que incluyen una primera capa hilada por adhesión más externa, una segunda capa hilada por adhesión más externa y al menos una primera capa soplada en fusión y/o fibrilada en fusión dispuesta directa o indirectamente entre la primera capa hilada por adhesión más externa y la segunda capa hilada por adhesión más externa. La primera capa hilada por adhesión más externa comprende una primera pluralidad de fibras continuas que se fusionan térmicamente y se compactan entre sí y definen una película microporosa en una superficie más externa de la tela no tejida. La primera pluralidad de fibras continuas comprende una primera composición polimérica que tiene un primer punto de fusión y la primera capa soplada en fusión y/o capa fibrilada en fusión comprende una primera pluralidad de fibras sopladas en fusión y/o fibras fibriladas en fusión que comprenden una tercera composición polimérica que tiene un tercer punto de fusión, en donde el primer punto de fusión es más bajo que el tercer punto de fusión.

Nonwoven fabric having high thermal resistance and barrier properties

Non woven fabrics including a first outermost spunbond layer, a second outermost spunbond layer, and at least a first meltblown and/or melt-fibrillated layer disposed directly or indirectly between the first outermost spunbond layer and the second outermost spunbond layer. The first outermost spunbond layer comprises a first plurality of continuous fibers that are thermally fused and compacted against one another and define a microporous film on an outermost surface of the nonwoven fabric. The first plurality of continuous fibers comprises a first polymeric composition having a first melting point and the first meltblown layer and/or melt-fibrillated layer comprises a first plurality of meltblown fibers and/or melt-fibrillated fibers comprising a third polymeric composition having a third melting point, in which the first melting point is lower than the third melting point.

Single sided hydrophilic nonwoven fabric with high tensile strength and csr wrap made therefrom

The present application discloses a single sided hydrophilic nonwoven fabric with high tensile strength and a CSR wrap made therefrom, wherein the single sided hydrophilic nonwoven fabric has a spunbonded/meltblown/spunbonded (SMS) structure consisting of a top spunbonded layer, a middle meltblown layer and a bottom spunbonded layer, wherein one side of the nonwoven fabric is hydrophilic, and the other side of the nonwoven fabric is hydrophobic.

Single sided hydrophilic nonwoven fabric with high tensible strength and csr wrap made therefrom

The present application discloses a single sided hydrophilic nonwoven fabric with high tensile strength and a CSR wrap made therefrom, wherein the single sided hydrophilic nonwoven fabric has a spunbonded/meltblown/spunbonded (SMS) structure consisting of a top spunbonded layer, a middle meltblown layer and a bottom spunbonded layer, wherein one side of the nonwoven fabric is hydrophilic, and the other side of the nonwoven fabric is hydrophobic.

Tela no tejida que tiene alta resistencia térmica y propiedades de barrera

Las telas no tejidas que incluyen una primera capa hilada más externa, una segunda capa hilada más externa y al menos una primera capa meltblown y/o fibrilada por fusión dispuesta directa o indirectamente entre la primera capa hilada más externa y la segunda capa hilada más externa. La primera capa hilada más externa comprende una primera pluralidad de fibras continuas que se compactan y se fusionan térmicamente entre sí y definen una película microporosa sobre una superficie más externa de la tela no tejida. La primera pluralidad de fibras continuas comprende una primera composición polimérica que tiene un primer punto de fusión y la primera capa meltblown y/o capa fibrilada por fusión comprende una primera pluralidad de fibras meltblown y/o fibras fibriladas por fusión que comprende una tercera composición polimérica que tiene un tercer punto de fusión, en la que el primer punto de fusión es menor que el tercer punto de fusión.

Unmanned vehicle, method, apparatus and system for positioning unmanned vehicle

Disclosed embodiments include an unmanned vehicle, a method, apparatus and system for positioning an unmanned vehicle. In some embodiments, the method includes: acquiring first laser point cloud height value data matching a current position of the unmanned vehicle, the first laser point cloud height value data; converting the first laser point cloud height value data into laser point cloud projection data in a horizontal earth plane; determining a first matching probability of the laser point cloud projection data in a predetermined range of a laser point cloud height value map; and determining a position of the unmanned vehicle in the laser point cloud height value map based on the first matching probability. The embodiment implements an accurate positioning on the current position of the unmanned vehicle.

Method and apparatus for detecting vehicle contour based on point cloud data

Nonwoven fabric having high thermal resistance and barrier properties

Barrier fabrics with desirable air permeability

A barrier fabric suitable as a backsheet for an underpad configured for a low air loss bed, in which the barrier fabric comprises a first nonwoven fabric including outermost spunbond layers and two or more fine-fiber containing nonwoven layers. Each of the nonwoven layers being treated with a non-fluorinated barrier coating (NFBC).