Abstract: The present disclosure provides a method and system for obstacle-avoidance in a self-driving, a system, and a storage medium, comprises: obtaining information of the obstacles, the information including sets of coordinates of the obstacles; determining a feasible area according to the information; determining a waypoint according to the feasible area, and determining an attractive force of the waypoint according to the waypoint and a preset attractive potential field function; determining a repulsive force of the obstacles according to the coordinates of the obstacles on sides of the feasible area and a preset repulsive potential field function; and determining a total force according to the attractive force and the repulsive force, and a steering command issued accordingly. A defect of Artificial Potential Field deflecting into the local minimum, and problems of environmental constraints and the constraints of the vehicle itself in a structured urban environment are resolved.

Abstract: This invention discloses a digital TV broadcast system coordinated with a broadband communication network, an information transmission network in which the broadcast system is applied, a digital TV heterogeneous network architecture, and a client terminal used in each of the above network systems. The various broadcast system architectures of the invention adopt the design concept of heterogeneous network which integrates a broadcast network with other networks, for example, a communication network, the Internet and the like, to form a heterogeneous network architecture coordinating various networks. Meanwhile, the usage in bad conditions are taken into account, and a broadcast TV system which enables uplink transmission by using a broadcast link is designed. The terminal of the invention is a terminal applicable in these heterogeneous network architectures, is capable of receiving signals transmitted from various networks, and can enable flexible receiving and access modes with a series of control means.

Abstract: This invention discloses a digital TV broadcast system coordinated with a broadband communication network, an information transmission network in which the broadcast system is applied, a digital TV heterogeneous network architecture, and a client terminal used in each of the above network systems. The various broadcast system architectures of the invention adopt the design concept of heterogeneous network which integrates a broadcast network with other networks, for example, a communication network, the Internet and the like, to form a heterogeneous network architecture coordinating various networks. Meanwhile, the usage in bad conditions are taken into account, and a broadcast TV system which enables uplink transmission by using a broadcast link is designed. The terminal of the invention is a terminal applicable in these heterogeneous network architectures, is capable of receiving signals transmitted from various networks, and can enable flexible receiving and access modes with a series of control means.