Abstract: Disclosed are a preprocessing method and device for distance transformation. The method includes: acquiring a first grid map; calculating a second parameter of a vehicle model; calculating a precision of a second grid map according to the second parameter of the vehicle model and a precision of the first grid map; calculating the numbers of rows and columns of the second grid map according to information on the first grid map, the precision of the second grid map and the second parameter of the vehicle model; determining for each cell of the second grid map a state value according to the numbers of obstacle cells within said each cell; and determining in the first grid map at least one cell requiring no processing, according to the state value. Therefore, during the distance transformation, the processing speed for determining the distance value of each cell is increased.

Abstract: Disclosed is a method for adaptive identification of erroneous GPS observed value, including: acquiring positioning information of a vehicle from a GPS sensor, and extracting first observed value data; acquiring posture information and speed information of the vehicle to acquire dead reckoning trajectory data of the vehicle; eliminating the erroneous GPS observed values based on respective data on data status value, heading significant bit, the number of satellites used and horizontal dilution of precision in the first observed value data to obtain second observed value data; constructing pose graph data based on the second observed value data and acquiring processing result information; analyzing and optimizing the processing result information to eliminate the erroneous GPS observed values of which the cost function exceeds a preset cost function threshold to obtain third observed value data; and constructing a high-precision map based on the third observed value data and three-dimensional scene map data.

Abstract: Disclosed is zero point compensation method and device for EPS. The method includes: acquiring a value of lateral distance when a vehicle travels along an ideal path and obtaining a smoothed lateral distance value, for each control cycle; calculating a longitudinal movement distance value of the vehicle for each control cycle; performing linear fitting to obtain a linear relationship between the longitudinal movement distance value and the smoothed lateral distance value; calculating a zero point compensation angle for the EPS based on a first parameter in the linear relationship and a preset steering wheel transmission ratio, and compensating a steering control angle; and determining that the zero point compensation angle passes verification when a minimum residual error is less than a preset acceptable deviation. In this way, the time required for calibration can be reduced, and the accuracy and effectiveness of the control algorithm can be improved.

Abstract: Disclosed are a vehicle anti-collision forewarning method, an in-vehicle computer device and a vehicle anti-collision forewarning system.

Abstract: Disclosed is a method for adaptive identification of erroneous GPS observed value, including: acquiring positioning information of a vehicle from a GPS sensor, and extracting first observed value data; acquiring posture information and speed information of the vehicle to acquire dead reckoning trajectory data of the vehicle; eliminating the erroneous GPS observed values based on respective data on data status value, heading significant bit, the number of satellites used and horizontal dilution of precision in the first observed value data to obtain second observed value data; constructing pose graph data based on the second observed value data and acquiring processing result information; analyzing and optimizing the processing result information to eliminate the erroneous GPS observed values of which the cost function exceeds a preset cost function threshold to obtain third observed value data; and constructing a high-precision map based on the third observed value data and three-dimensional scene map data.

Abstract: Disclosed is zero point compensation method and device for EPS. The method includes: acquiring a value of lateral distance when a vehicle travels along an ideal path and obtaining a smoothed lateral distance value, for each control cycle; calculating a longitudinal movement distance value of the vehicle for each control cycle; performing linear fitting to obtain a linear relationship between the longitudinal movement distance value and the smoothed lateral distance value; calculating a zero point compensation angle for the EPS based on a first parameter in the linear relationship and a preset steering wheel transmission ratio, and compensating a steering control angle; and determining that the zero point compensation angle passes verification when a minimum residual error is less than a preset acceptable deviation. In this way, the time required for calibration can be reduced, and the accuracy and effectiveness of the control algorithm can be improved.

Abstract: Disclosed are a preprocessing method and device for distance transformation. The method includes: acquiring a first grid map; calculating a second parameter of a vehicle model; calculating a precision of a second grid map according to the second parameter of the vehicle model and a precision of the first grid map; calculating the numbers of rows and columns of the second grid map according to information on the first grid map, the precision of the second grid map and the second parameter of the vehicle model; determining for each cell of the second grid map a state value according to the numbers of obstacle cells within said each cell; and determining in the first grid map at least one cell requiring no processing, according to the state value. Therefore, during the distance transformation, the processing speed for determining the distance value of each cell is increased.

Abstract: A method for autonomous vehicle fault diagnosis and protection, including steps of: (S1) acquiring fault information of at least one functional module in an autonomous vehicle system and overall state information of the autonomous vehicle system in real time; (S2) determining fault handling information of the vehicle by analyzing the acquired fault information and the overall state information of the autonomous vehicle system; and (S3) sending the fault handling information to a control and execution layer of the vehicle for processing. With the fault diagnosis system including software and hardware according to the present disclosure, the operation situations of the autonomous vehicle software system and the vehicle hardware equipment can be monitored, and the fault handling information of the vehicle can be rapidly sent to a vehicle control unit, thereby ensuring that security measures can be quickly taken in the case of an emergency of the vehicle.

Abstract: Disclosed are a vehicle anti-collision forewarning method, an in-vehicle computer device and a vehicle anti-collision forewarning system.

Abstract: Various embodiments may relate to a lighting device, which includes a lamp tube having two open ends, a light engine arranged in the lamp tube, a carrier supporting the light engine, and two end caps closing the open ends. The lighting device further includes a diffuser. The carrier supporting the light engine is held on the diffuser, and the diffuser is held on the inner wall of the lamp tube.

Abstract: Various embodiments may relate to a lighting device, which includes a lamp tube having two open ends, a light engine arranged in the lamp tube, a carrier supporting the light engine, and two end caps closing the open ends. The lighting device further includes a diffuser. The carrier supporting the light engine is held on the diffuser, and the diffuser is held on the inner wall of the lamp tube.

Abstract: Various embodiments may relate to a lighting device, which includes a lamp tube having two open ends, a light engine arranged in the lamp tube, a carrier supporting the light engine, and two end caps closing the open ends. The lighting device further includes a diffuser. The carrier supporting the light engine is held on the diffuser, and the diffuser is held on the inner wall of the lamp tube.

Abstract: Various embodiments may relate to a lighting device, which includes a lamp tube having two open ends, a light engine arranged in the lamp tube, a carrier supporting the light engine, and two end caps closing the open ends. The lighting device further includes a diffuser. The carrier supporting the light engine is held on the diffuser, and the diffuser is held on the inner wall of the lamp tube.

Abstract: A constant current source circuit includes a main circuit, wherein the main circuit includes a first three-terminal regulator, a transistor, a sample resistor and a load, an output terminal of the first three-terminal regulator is connected with a control Electrode of the transistor, a reference Electrode of the transistor is connected with a voltage input terminal, a working Electrode is connected with one end of the load, and the other end of the load is connected with one end of the sample resistor, and the other end of the sample resistor and an input terminal of the first three-terminal regulator are connected to a reference potential, respectively, wherein the constant current source circuit further includes an adjusting unit that includes a voltage stabilizing unit, a fourth resistor and a fifth resistor.

Abstract: A constant current source circuit includes a main circuit, wherein the main circuit includes a first three-terminal regulator, a transistor, a sample resistor and a load, an output terminal of the first three-terminal regulator is connected with a control Electrode of the transistor, a reference Electrode of the transistor is connected with a voltage input terminal, a working Electrode is connected with one end of the load, and the other end of the load is connected with one end of the sample resistor, and the other end of the sample resistor and an input terminal of the first three-terminal regulator are connected to a reference potential, respectively, wherein the constant current source circuit further includes an adjusting unit that includes a voltage stabilizing unit, a fourth resistor and a fifth resistor.