Abstract: Provided are a method and apparatus for controlling rollover prevention of a tank truck, a cloud, a tank truck, and a system for controlling rollover prevention of a tank truck. The method includes: obtaining vehicle information sent by the tank truck and liquid filling information obtained based on a sensor; inputting the vehicle information and the liquid filling information into a vehicle fine model and a liquid sloshing fine model respectively, and outputting a first parameter calibration result and a second parameter calibration result respectively; and transmitting the first parameter calibration result and the second parameter calibration result to the tank truck, determining a control target of the tank truck by combining vehicle state sensor information observation and liquid related sensor information observation, and controlling the rollover prevention of the tank truck based on the control target.

Abstract: A 3D target detection method based on multimodal fusion and a depth attention mechanism includes the following steps: obtaining and preprocessing original point cloud data and original image data; inputting the preprocessed point cloud data and image data into a 3D target detection network based on multimodal fusion and the depth attention mechanism, where the 3D target detection network based on multimodal fusion and the depth attention mechanism includes a generation phase for 3D bounding box proposals and a refinement phase for 3D bounding boxes, and the network outputs parameters and classification confidence of a target bounding box; training the 3D target detection network based on multimodal fusion and the depth attention mechanism; and processing the collected lidar point cloud data and image data by using the trained detection network, and outputting 3D target information, to realize 3D target detection.