Abstract: Embodiments of the present disclosure provide a bend driving control method for an autonomous vehicle, a device and a storage medium, and relate to a field of perception and autonomous driving technologies. The method includes: obtaining an occupancy width of an autonomous vehicle on a target bend when the autonomous vehicle drives on the target bend; detecting location information of an obstacle on the target bend; and controlling a driving route of the autonomous vehicle on the target bend based on the occupancy width and the location information of the obstacle.

Abstract: A method for planning a path for lane changing includes: determining, based on position information of a detected obstacle, a reference position to be passed by a vehicle when the vehicle detours the obstacle; estimating an end position of the vehicle detouring the obstacle based on a positional relationship between the vehicle and the obstacle; and determining a path of the vehicle to detour the obstacle based on a current position of the vehicle, the reference position and the end position.

Abstract: The present disclosure provides a speaker, including a housing and a vibration unit and a magnetic circuit unit that are received in the housing. The magnetic circuit unit includes a magnetic frame, the magnetic frame comprising a bottom wall and a sidewall extending from the bottom wall while being bent towards the housing. A positioning portion protruding outwardly is provided on the sidewall of the magnetic frame, and the positioning portion abuts against the housing. The speaker of the present disclosure can achieve the positioning of the magnetic frame using the positioning portion provided on the sidewall of the magnetic frame during the assembling, and it is unnecessary to sacrifice the flanging length of the magnetic frame, so that the flanging of the magnetic frame can be maximized, thereby improving the performance of the speaker.

Abstract: The invention provides a piezoelectric micro-electromechanical system (MEMS) microphone includes a base with a cavity and a piezoelectric diaphragm arranged on the base. The base has a ring base and a support column. The piezoelectric diaphragm includes a plurality of diaphragm sheets. Each diaphragm sheet has a fixing end connected with the support column and a free end suspended above the cavity. The widths of the diaphragm sheets are gradually increased from the fixing ends to the free ends. According to the piezoelectric MEMS microphone provided by the invention, under sound pressure, the free ends vibrate, wide free ends drive short fixing ends, and the diaphragm sheets close the fixing ends generate greater deformation to generate more charge. Therefore, the sensitivity can be further improved.

Abstract: The invention provides a piezoelectric micro-electromechanical systems (MEMS) microphone having a base with a cavity, a piezoelectric diaphragm, and a limit element. The base has a ring base, and a support column. The piezoelectric diaphragm includes diaphragm sheets. Each diaphragm sheet have a fixing end connected with the support column and a free end suspended above the cavity. The limit element includes a limit part arranged apart from the piezoelectric diaphragm to limit the free ends in vibration directions of the diaphragm sheets, and an edge fixing plate connected with the outer edge of the limit part and arranged on the ring base. When the diaphragm sheets greatly deform upwards under impact force, deformation of the diaphragm sheets can be controlled, and the diaphragm sheets are protected to prevent the diaphragm sheets from breaking, thereby improving the stability of the piezoelectric MEMS microphone.

Abstract: The present invention provides a piezoelectric MEMS microphone having a base with a cavity, a piezoelectric diaphragm, and a restraining element. The base has a ring base circumferentially forming a cavity, a support column. The piezoelectric diaphragm includes diaphragm sheets each having a fixing end connected to a support column and a free end suspended over the cavity. The restraining element has one end fixedly connected to the free end, the other end connected to the part on the base that is not connected to the fixing end. The piezoelectric MEMS microphone of the invention can constrain the deformation of the diaphragm sheet, thereby improving the resonant frequency of the piezoelectric diaphragm, reducing the noise of the whole piezoelectric MEMS microphone.

Abstract: The present disclosure provides a speaker, including a flexible circuit board, a holder, a diaphragm received in the holder, and a voice coil for driving the diaphragm to vibrate. The flexible circuit board includes a connecting portion received in the holder and an extension portion extending from the connecting portion to outside of the holder. The voice coil is electrically connected to the connecting portion. The flexible circuit board further includes a first pad located at an upper surface of the connecting portion and electrically connected to the voice coil, and a second pad located at an upper surface of the extension portion. The extension portion is folded over with respect to the connecting portion, and a lower surface of the extension portion is attached to the holder.

Abstract: A method and apparatus for planning a travelling path, and a vehicle are provided. The method includes: determining at least one reference curve covering a first length range, and selecting a target reference curve covering the first length range from the at least one reference curve covering the first length range; extracting a curve to be adjusted covering a second length range from the target reference curve covering the first length range; processing the curve to be adjusted based on a safety parameter within the second length range, to obtain an adjusted curve; and determining a travelling path covering the first length range based on the adjusted curve and the target reference curve. The complexity of an actual traffic scene is taken into account, and a travelling path planning is not affected by the accuracy of sampling points.

Abstract: A method and apparatus for processing a driving reference line, and a vehicle are provided. The method comprises: acquiring position information of at least one obstacle in a range covered by an original driving reference line; determining a safety range parameter based on the position information of the at least one obstacle; adjusting a coefficient of a polynomial curve corresponding to the original driving reference line based on the safety range parameter, to obtain an adjusted polynomial curve; and determining an adjusted driving reference line based on the updated polynomial curve. The safety problem of the driving reference line caused by the insufficient obstacle avoidance ability of the driving reference line is solved.

Abstract: A flipping-capacitor rectifier circuit that enhances an output power of a piezoelectric energy harvester (PEH). The flipping-capacitor rectifier circuit includes a flipping capacitor, a plurality of switches, and an active rectifier. The flipping capacitor is connected in parallel with the PEH and forms at least three reconfiguration phases by turning on one or more of the switches. The active rectifier connects with the flipping capacitor in parallel and rectifies an AC voltage of the PEH. The flipping capacitor flips a voltage across a capacitor of the PEH to enhance the output power of the PEH by extracting power from the capacitor of the PEH.

Abstract: A method, device and terminal apparatus for invoking an automatic driving reference line are provided. The method includes: acquiring lane information of a current lane where a vehicle is located; calculating an automatic driving reference line of the current lane according to the lane information of the current lane; invoking lane information of a switching lane according to a topological relation between the current lane and the switching lane; and calculating an automatic driving reference line of the switching lane according to the automatic driving reference line of the current lane and the lane information of the switching lane.

Abstract: A device and a method for breeding blueberry-specific mycorrhizal fungi. The device includes a container, where a bottom of the container is laid with perlite to form a perlite layer; an absorbent cotton is arranged on the perlite layer; a hole for planting is provided in the absorbent cotton and blueberry tissue culture seedlings or moss seedlings are placed in the hole; and a spore transfer solution is provided around the blueberry tissue culture seedlings or moss seedlings. When used as a bacterial fertilizer for inoculation in the field, the pieces of absorbent cotton are buried directly around the blueberry roots; while used for research, one of the pieces of the absorbent cotton is washed with sterile water and filtered with a filter paper to obtain mycorrhizal fungi spores.

Abstract: The present disclosure provides a speaker, including a flexible circuit board, a holder, a diaphragm received in the holder, and a voice coil for driving the diaphragm to vibrate. The flexible circuit board includes a connecting portion received in the holder and an extension portion extending from the connecting portion to outside of the holder. The voice coil is electrically connected to the connecting portion. The flexible circuit board further includes a first pad located at an upper surface of the connecting portion and electrically connected to the voice coil, and a second pad located at an upper surface of the extension portion. The extension portion is folded over with respect to the connecting portion, and a lower surface of the extension portion is attached to the holder.

Abstract: The present disclosure provides a speaker, including a housing and a vibration unit and a magnetic circuit unit that are received in the housing. The magnetic circuit unit includes a magnetic frame, the magnetic frame comprising a bottom wall and a sidewall extending from the bottom wall while being bent towards the housing. A positioning portion protruding outwardly is provided on the sidewall of the magnetic frame, and the positioning portion abuts against the housing. The speaker of the present disclosure can achieve the positioning of the magnetic frame using the positioning portion provided on the sidewall of the magnetic frame during the assembling, and it is unnecessary to sacrifice the flanging length of the magnetic frame, so that the flanging of the magnetic frame can be maximized, thereby improving the performance of the speaker.

Abstract: The present disclosure provides a speaker including a holder, a vibration unit and a magnetic circuit unit that are received in the holder. The vibration unit includes a voice coil, a flexible circuit board, and a diaphragm. The flexible circuit board includes a body portion and a pad portion extending inwardly from the body portion. The pad portion is electrically connected to the voice coil, and the magnetic circuit unit is provided with an avoiding portion for receiving the pad portion at a position corresponding to the pad portion. In the speaker according to the present disclosure, a local position of the flexible circuit board is connected to the voice coil, so that the magnetic gap will not be sacrificed, thereby improving the acoustic performance of the speaker and improving user experience.

Abstract: A cushion structure for use with a packaging case provides cushion and protection of an object. The cushion structure includes a first member and a second member. The first member is configured to snuggly receive the object; the second member is configured to be mounted onto a case body of the packaging case; and the first member and the second member are detachably coupled.

Abstract: A flipping-capacitor rectifier circuit that enhances an output power of a piezoelectric energy harvester (PEH). The flipping-capacitor rectifier circuit includes a flipping capacitor, a plurality of switches, and an active rectifier. The flipping capacitor is connected in parallel with the PEH and forms at least three reconfiguration phases by turning on one or more of the switches. The active rectifier connects with the flipping capacitor in parallel and rectifies an AC voltage of the PEH. The flipping capacitor flips a voltage across a capacitor of the PEH to enhance the output power of the PEH by extracting power from the capacitor of the PEH.

Abstract: A terminal support and a wireless charging device are disclosed. The terminal support includes a base with a placing surface used for placing a terminal; a force generation module; and a control module connected to the force generation module, wherein the control module is configured to control the force generation module to generate a force which acts on the terminal to change a relative position relationship between the terminal and the placing surface. A wireless charging device is further disclosed and the wireless charging device includes the terminal support. The terminal support controls the terminal placed on the base, the terminal and the placing surface are controlled to produce relative movement therebetween, and corresponding control can be performed according to a state parameter of the terminal or an instruction input by a user.

Abstract: A cushion structure for use with a packaging case provides cushion and protection of an object. The cushion structure includes a first member and a second member. The first member is configured to snuggly receive the object; the second member is configured to be mounted onto a case body of the packaging case; and the first member and the second member are detachably coupled.

Abstract: A flexible circuit board and a display apparatus are provided. The flexible circuit board comprises a substrate and a driver integrated circuit provided on the substrate. The flexible circuit board further comprises a support pad, the support pad is provided on at least one side of the driver integrated circuit in a first direction, and a height of the support pad is greater than a height of the driver integrated circuit. A distance between the support pad and the driver integrated circuit in the second direction is smaller than or equal to a width of the driver integrated circuit in a second direction. Directions in which two adjacent side edges of the driver integrated circuit are provided are respectively the first direction and the second direction.