Abstract: A data interaction method, apparatuses and computer readable medium for connecting a user device to Service-Oriented Architecture (SOA) service in a vehicle. A data interaction method includes: forming a plurality of BLE channels by connecting a mobile terminal with a plurality of Bluetooth low energy (BLE) nodes of a vehicle separately, obtaining a service-oriented architecture (SOA) service request data packet of the vehicle, where data in the SOA service request data packet are configured to call an SOA service of the vehicle, obtaining a plurality of data sub-packets by dividing the SOA service request data packet, and sending the plurality of data sub-packets separately to the vehicle through the plurality of BLE channels; and sending a data packet of the mobile terminal to the vehicle through the plurality of BLE nodes, such that the SOA service of the vehicle can be called according to the data in the data packet.

Abstract: The disclosure relates to a battery cell connecting structure, a battery pack and a vehicle. The battery cell connecting structure is used for electrical connection of a plurality of battery cells, and includes: a cooler, arranged at one end of battery cell poles of the battery cells, and including a cavity and configuration holes in one-to-one correspondence with the battery cell pole; an electrical connector, for connection between the battery cell poles, where a partial region of the electrical connector penetrates through the cavity, a partial region of the electrical connector is exposed at the corresponding configuration hole and is configured to be electrically connected with the battery cell poles, and the electrical connector is connected with a circumference of the configuration holes in a sealed mode; and an insulating heat dissipation medium, arranged in the cavity, and configured to cool the electrical connector penetrated in the cavity.

Abstract: A vehicle-mounted controller includes: a GNSS module, an MPU and an MCU. The GNSS module transmits a pulse signal to the MPU via the rigid line and transmits recommended positioning information to the MPU via the serial port line at the moment when a change occurs in high and low levels of the pulse signal; the MPU determines first absolute time according to first reception time when the pulse signal is received, second reception time when the recommended positioning information is received, and the recommended positioning information, and broadcasts the first absolute time to Ethernet network for absolute time synchronization; the MCU determines second absolute time according to time when the pulse signal is received, time when the first absolute time is received, and the recommended positioning information, and broadcasts the second absolute time to a CAN bus for absolute time synchronization.

Abstract: A parking method, wherein, in response to determining that a distance between the vehicle and a designated parking lot is less than a preset distance threshold, free parking spaces of the designated parking lot are obtained in advance, and a target recommended parking space is determined according to position information of each free parking space; and target parking prompt information is generated according to the target recommended parking space, the target parking prompt information is sent to a designated terminal, and in response to receiving a valet parking allowing instruction sent by the designated terminal, the valet parking allowing instruction is forwarded to the target vehicle to control the target vehicle to drive to the target recommended parking space.

Abstract: A battery pack includes a battery pack casing, a battery cell, a barrier assembly and a filling layer, the battery cell is located in the battery pack casing and has a pole end face and an explosion-proof valve on the pole end face; the barrier assembly is installed on the battery cell and is between the pole end face and an inner surface of the battery pack casing, the inner surface of the battery pack casing, the pole end face and the barrier assembly jointly define an exhaust channel, and the explosion-proof valve is in the exhaust channel; and the filling layer is located outside the exhaust channel and is used for filling a gap between at least part of an outer surface of the battery cell and at least part of the inner surface of the battery pack casing, the filling layer is made of an adhesive colloid.

Abstract: A mapping method that includes obtaining a multi-frame image of a parking scene by a camera every other first time interval, obtaining point cloud data of the parking scene by a laser radar every other second time interval, identifying wheel stop information in the multi-frame image by a pre-trained wheel stop identification model, obtaining a wheel stop classification result by fusing the wheel stop information in the multi-frame image, building an initial wheel stop three-dimensional map based on a vehicle positioning result and the wheel stop classification result, and obtaining a wheel stop three-dimensional map by revising the initial wheel stop three-dimensional map in combination with wheel stop position information in the point cloud data.

Abstract: A vehicle control method, vehicle and non-transitory computer readable storage medium that enables a current transmission ratio of a vehicle to be decreased prior to a driver turning a steering wheel so that a larger steering angle of a wheel can be obtained when the driver turns the steering wheel at a smaller angle in emergency driving situations.

Abstract: A vehicle control method is provided. The vehicle includes an air suspension system, an air spring and an air storage tank in the air suspension system, which are connected through an air circuit. The method includes: obtaining a spring air pressure of the air spring and an air tank air pressure of the air storage tank; and adjusting, in response to determining that the spring air pressure and the air tank air pressure meet a preset condition, a height of an axle corresponding to the air spring in the vehicle by controlling connection or disconnection of the air circuit between the air spring and the air storage tank.

Abstract: A method for generating a lane line, and includes: acquiring three-dimensional point cloud data and two-dimensional lane line data of a target lane, the two-dimensional lane line data being lane line data collected in response to determining that the vehicle is driving in the target lane, and the three-dimensional point cloud data being point cloud data of the surrounding environment of the vehicle collected in response to determining that the vehicle is driving in the target lane; determining a plurality of lane line key points according to the two-dimensional lane line data and the three-dimensional point cloud data; and obtaining a target three-dimensional lane line by connecting the plurality of lane line key points randomly for many times according to attribute information of the plurality of lane line key points and a driving direction of the vehicle.

Abstract: A cell-to-body structure includes a vehicle body and a power cell pack, where the vehicle body includes two sill beams, the two sill beams being arranged in a spaced manner in a left-right direction of a vehicle, and a cell pack mounting portion is on each of the sill beams; and the power cell pack includes a cell pack case, the cell pack case including a case body and a cross beam, the case body being connected to the cell pack mounting portion, the cross beam extending in the left-right direction, being located between the two sill beams, being integrated at a top of the case body and being connected to the vehicle body, and the top of the case body being used as a floor panel of the vehicle.

Abstract: A vehicle traveling control method, the method includes: determining predicted motion features of a to-be-avoided object within a perception visual field of a vehicle; determining a safety level of the to-be-avoided object relative to the vehicle according to the predicted motion features and preset safety conditions; and determining a target deceleration of the vehicle according to an attribute feature of the to-be-avoided object and the corresponding safety level, and controlling traveling of the vehicle according to the target deceleration.

Abstract: A method for lateral control of a vehicle includes: determining a target steering wheel rotation angle based on a target trajectory of the vehicle and a vehicle pose; determining a steering wheel rotation angle compensation according to the target steering wheel rotation angle and steering data of the vehicle; and controlling steering of the vehicle according to the target steering wheel rotation angle and the steering wheel rotation angle compensation, such that an actual steering angle of the vehicle is consistent with the target steering wheel rotation angle.

Abstract: An object detection method, the method includes: determining an object event image from event images collected by an event camera in the case of obtaining an original radar point cloud; obtaining, by projecting the original radar point cloud according to a pre-calibrated extrinsic matrix, relative to the event camera, of a radar, a projected point cloud of the original radar point cloud in a coordinate system of the event camera; determining an object radar point from the original radar point cloud according to a positional relation between projected points in the projected point cloud and an image contour in the object event image; and performing object detection according to the object radar point.

Abstract: A vehicle traveling control method, includes: predicting traveling paths of candidate vehicles within the sensing range of a current vehicle; determining a target competing vehicle competing with the current vehicle from the candidate vehicles, where the target competing vehicle is a vehicle having a path intersection with the traveling path of the current vehicle; determining the traveling strategy combinations of the current vehicle and the target competing vehicle according to preset traveling variations and current traveling status of the current vehicle and the target competing vehicle; and determining a target traveling strategy combination that meets preset safe traveling conditions from the traveling strategy combinations, and controlling the traveling of the current vehicle according to the target traveling strategy combination.

Abstract: An oil-cooled motor includes a casing, a rotor, and a stator. The casing is internally provided with an accommodating cavity. The rotor and the stator are accommodated in the accommodating cavity. The stator includes a stator core coaxially surrounding an outer side of the rotor. The stator core includes a first oil cooling channel, a second oil cooling channel, and a first end and a second end in an axial direction of the rotor. The first oil cooling channel penetrates the stator core from the first end to the second end, forming a first oil inlet in the first end and forming a first oil outlet in the second end. The second oil cooling channel penetrates the stator core from the first end to the second end, forming a second oil inlet in the second end and forming a second oil outlet in the first end.

Abstract: A target object detection method, including: obtaining images collected by more than one camera installed on a target vehicle; determining a high-dimensional parameter feature in a high-dimensional space corresponding to parameter information of each camera; and fusing features of the images via a target object detection model according to the high-dimensional parameter features, and determining position information of a target object based on the fused features, an order of the cameras corresponding to the images being the same as an order of the cameras corresponding to the high-dimensional parameter features.

Abstract: An image processing method includes: obtaining a real-time pose of a vehicle, and obtaining a first number of initial texture images; obtaining a first texture image corresponding to each initial texture image according to the real-time pose and each initial texture image; obtaining second texture images by converting the first texture images to a coordinate system in which the vehicle is positioned and obtaining an area corresponding to a bottom of the vehicle; and obtaining a target image, representing a scene of the bottom area of the vehicle, by performing hybrid rendering on the second texture images corresponding to the first number of initial texture images.

Abstract: A flat wire stator which includes an iron core and a flat wire winding; the flat wire winding includes a first phase winding, the first phase winding includes a plurality of coils, the plurality of coils are distributed in rotational symmetry around an axis of the iron core, the coils are wound in a portion of iron core slots in the plurality of iron core slots, and first ends and second ends of the coils are located at the same end of the iron core; and the plurality of coils are connected in series in sequence, the first end of each coil is connected to the first end of one coil of two coils adjacent to the coil, and the second end of the each coil is connected to the second end of the other coil of the two coils adjacent to the one coil.