Abstract: The disclosure relates to the technical field of autonomous driving, and provides a method for predicting a vehicle trajectory, a control apparatus, and a vehicle, to solve the problem of how to effectively deal with existing highly complex traffic scenario interactions and difficulties in iterative planning and control processes. In the method, scenario interaction results of a traffic agent are obtained based on a static environment perception result and a traffic agent perception result of a vehicle at a current moment, an initial interaction scenario is obtained based on the scenario interaction results, interaction scenario simulation is performed based on the initial interaction scenario and an ego vehicle driving decision to determine an optimal interaction scenario evolution feature of the traffic agent, and an optimal driving trajectory of the vehicle is obtained based on the optimal interaction scenario evolution feature and a state of the vehicle.

Abstract: The disclosure relates to the technical field of autonomous driving, and provides a method for determining a vehicle driving trajectory, a computer device, and a vehicle, to solve the problem of improving the reliability and safety in planning vehicle driving trajectories. The method includes: sequentially simulating, based on an interaction scenario of a vehicle at a current moment by using forward driving of the vehicle as a constraint condition, an interaction scenario of the vehicle at each of a plurality of future moments, to form a scenario tree consisting of the interaction scenarios at the current moment and the future moments; obtaining a scenario value of each interaction intention in the interaction scenario at each moment in the scenario tree; obtaining an optimal interaction intention of the vehicle in the interaction scenario at each moment based on the scenario value; and determining a driving trajectory of the vehicle based on the optimal interaction intention.

Abstract: The present disclosure provides an under-wire spray cleaning device for a wire cutting machine including: a spray assembly connected to a trough body, wherein the trough body is entirely disposed in an engaging slot of a nozzle pipe device; wherein the spray assembly includes first nozzles disposed on an inside of the trough body and second nozzles disposed on an outside of the trough body, the first nozzles are configured to clean a feed machine and a clamping mushroom head, and the second nozzles are configured to clean a sheave of the outside of the trough body. An advantage of the present disclosure is changing manually cleaning to cleaning by a spray device, which drastically improves cleaning efficiency and also prevents influence of human factors to cleanliness of the machine.

Abstract: A compound as shown in formula I, or an optical isomer thereof, a solvate thereof, a pharmaceutically acceptable salt thereof, a prodrug thereof, a tautomer thereof, a mesomer thereof, a racemate thereof, an enantiomer thereof, a diastereomer thereof, a mixture form thereof, a metabolite thereof, a metabolic precursor thereof, or an isotope substitute form thereof. TB is a target recognition/binding portion, L is a linking portion, and U is a ubiquitin protease recognition/binding portion, the three portions being connected by means of chemical bonds. The compound can significantly down-regulate mutated androgen receptor (AR) proteins, and has good inhibitory activity on prostate cancer cell lines.

Abstract: A glue application head for bonding is provided, including a main body. The main body includes a cavity for storing glue and a slit for applying the glue. Through the slit, the glue in the cavity is discharged from the glue application head to be applied on a workpiece to form a glue path with a predetermined line width. Not only can a glue layer with a uniform thickness be obtained, but also a problem of no glue coming out can be prevented. Accordingly, the glue application head has improved performance in coating the glue on the workpiece, and bonding ability of the glue can also be improved. A gluing mechanism with the glue application head and a bonding equipment including the gluing mechanism are also provided. A good fit is provided between the glue application head and the workpiece to prevent no dispensing and an overflow of the glue.

Abstract: An LED lamp includes a heat dissipation lamp holder provided with a mounting groove on a front side thereof; an LED lamp panel mounted in the mounting groove; a driving power supply electrically connected to the LED lamp panel and configured to power the LED lamp panel; a switch assembly located on the heat dissipation lamp holder and electrically connected between the LED lamp panel and the driving power supply; and a lens plate located on a side of the LED lamp panel emitting light and capable of abutting against the switch assembly. The switch assembly disconnects the LED lamp panel from the driving power supply when the lens plate is separated from the switch assembly, and the switch assembly electrically connects the LED lamp panel and the driving power supply when the lens plate abuts against the switch assembly.

Abstract: A detection system for a capacitive touch device including a display device and a capacitive touch screen is provided. A circuit ground of the capacitive touch screen is physically isolated from a system ground of the display device. A capacitive touch device is further provided.