Abstract: A unified framework for detecting perception anomalies in autonomous driving systems is described. The perception anomaly detection framework takes an input image from a camera in or on a vehicle and identifies anomalies as belonging to one of three categories. Lens anomalies are associated with poor sensor conditions, such as water, dirt, or overexposure. Environment anomalies are associated with unfamiliar changes to an environment. Finally, object anomalies are associated with unknown objects. After perception anomalies are detected, the results are sent downstream to cause a behavior change of the vehicle.

Abstract: Techniques are described for performing an image processing on frames of a camera located on or in a vehicle. An example technique includes receiving, by a computer located in a vehicle, a first image and a second image from a camera; determining a first set of characteristics about a first set of pixels in the first image and a second set of characteristics about a second set of pixels in the second image; obtaining a motion information for each pixel in the second set by comparing the second set of characteristics with the first set of characteristics; generating, using the motion information for each pixel in the second set, a combined set of characteristics; determining attributes of a road using at least some of the combined set of characteristics; and causing the vehicle to perform a driving related operation in response to the determining the attributes of the road.

Abstract: Techniques are described for performing an image processing technique on frames of a camera located on or in a vehicle. An example technique includes receiving, by a computer located in a vehicle, a first image frame from a camera located on or in the vehicle; obtaining a first combined set of information by combining a first set of information about an object detected from the first image frame and a second set of information about a set of objects detected from a second image frame, where the set of objects includes the object; obtaining, by using the first combined set of information, a second combined set of information about the object from the first image frame and from the second image frame; and causing the vehicle to perform a driving related operation in response to determining a characteristic of the object using the second combined set of information.

Abstract: The present invention has disclosed an optimal control method for reactive voltage of wind power and photovoltaic power centralized grid connection in the field of wind power and photovoltaic power grid connection control technology, comprising: setting actuating stations used to control single wind power plant/photovoltaic power plant, setting substations used to control actuating stations and set master station used to control all the substations; master station calculates setting voltage reference Uref of each substation; adopting 3? method to process set voltage reference Uref to obtain set voltage reference interval; regulating high-side voltage of substation to make it fall in set voltage reference interval; if high-side voltage of substation does not fall in set voltage reference interval, then regulating the equipment in wind power plant/photovoltaic power plant via actuating station. The present invention guides the actual operations of electric power system.

Abstract: The present invention has disclosed a wind power bundling control method after wind power and thermal power are connected to a power grid in the field of electric power system security technology, including regulating wind power output and thermal power output forward or backward; calculating the transient stability margin of the grid, load level index of element and voltage out-of-limit index of busbar after regulating wind power output and thermal power output respectively; calculating wind power/thermal power paying value according to the transient stability margin of the grid, load level index of element and voltage out-of-limit index of busbar after regulating wind power output and thermal power output; if wind power/thermal power paying value is larger than set threshold value, regulating wind power output and thermal power output backward/forward; if wind power/thermal power paying value is smaller than set threshold value, regulating wind power output and thermal power output forward/backward.

Abstract: The present invention has disclosed an optimal control method for reactive voltage of wind power and photovoltaic power centralized grid connection in the field of wind power and photovoltaic power grid connection control technology, comprising: setting actuating stations used to control single wind power plant/photovoltaic power plant, setting substations used to control actuating stations and set master station used to control all the substations; master station calculates setting voltage reference Uref of each substation; adopting 3? method to process set voltage reference Uref to obtain set voltage reference interval; regulating high-side voltage of substation to make it fall in set voltage reference interval; if high-side voltage of substation does not fall in set voltage reference interval, then regulating the equipment in wind power plant/photovoltaic power plant via actuating station. The present invention guides the actual operations of electric power system.

Abstract: The present invention has disclosed a wind power bundling control method after wind power and thermal power are connected to a power grid in the field of electric power system security technology, including regulating wind power output and thermal power output forward or backward; calculating the transient stability margin of the grid, load level index of element and voltage out-of-limit index of busbar after regulating wind power output and thermal power output respectively; calculating wind power/thermal power paying value according to the transient stability margin of the grid, load level index of element and voltage out-of-limit index of busbar after regulating wind power output and thermal power output; if wind power/thermal power paying value is larger than set threshold value, regulating wind power output and thermal power output backward/forward; if wind power/thermal power paying value is smaller than set threshold value, regulating wind power output and thermal power output forward/backward.