Shenzhen Yinwang Intelligent Technologies Patente

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A control method and apparatus, and an intelligent driving device are provided. The method includes: obtaining a type and a position of a first obstacle, where the type indicates that the first obstacle is a low obstacle or a negative obstacle, the low obstacle is an obstacle whose highest point is higher than a plane on which a vehicle is located and lower than a plane on which a chassis of the vehicle is located, and the negative obstacle is an obstacle whose highest point is lower than the plane on which the vehicle is located; and performing at least one of the following based on the type and the position of the first obstacle: controlling a speed of the vehicle and controlling a pose of the vehicle. The method in this application may be applied to an intelligent vehicle like an electric vehicle or a new energy vehicle. During traveling or parking of the vehicle, a pose and/or a speed of the vehicle can be controlled based on a position of a negative obstacle or a low obstacle, to prevent the vehicle from falling into the negative obstacle or colliding with the low obstacle. This helps improve vehicle safety and ensure personal and property safety of a user.

A detection assembly mounting structure and a vehicle are provided. The detection assembly mounting structure includes a vehicle roof bow (1), a trim panel (2), a detection assembly (3), and a tolerance adjuster (4). The trim panel (2) is connected to the vehicle roof bow (1). The detection assembly (3) is connected to the trim panel (2), and the detection assembly (3) is connected to the vehicle roof bow (1) via the tolerance adjuster (4).

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Embodiments of this application provide a processing method and apparatus, and a transportation means. The method may be applied to the field of intelligent vehicles. The method includes: obtaining an update sequence of a plurality of components and information about a mandatory matching relationship component set in an over the air OTA update process, where the plurality of components include a first component; and when the first component fails to be updated, based on the update sequence and the information about the mandatory matching relationship component set, updating at least a part of to-be-updated components and/or rolling back a part of successfully updated components, where an update ranking of the to-be-updated component is later than an update ranking of the first component, and an update ranking of the successfully updated component is earlier than the update ranking of the first component. According to the foregoing method, efficiency of OTA update can be improved, and unnecessary rollback operations can be reduced.

A vehicle, a vehicle control method, and an intelligent driving control unit are provided. A vehicle (100, 300) includes at least one sensor (310), an intelligent driving control unit (320), and a drive projection apparatus (330). An output end of the at least one sensor is coupled to an input end of the intelligent driving control unit, and a first output end of the intelligent driving control unit is coupled to a first input end of the drive projection apparatus. The at least one sensor generates external environment data based on an external environment of the vehicle, and sends the external environment data to the intelligent driving control unit. The intelligent driving control unit generates projection image data based on the external environment data, and sends the projection image data to the drive projection apparatus. The drive projection apparatus outputs a projection image based on the projection image data. This vehicle resolves problems that a link topology of an intelligent headlamp in the vehicle is complex, a data transmission link is long, and a data transmission delay is large.

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Embodiments of this application provide a measurement apparatus and a measurement method. The measurement apparatus is configured to measure a height of a suspension system. The suspension system includes a swing arm disposed between a bearing structure and a wheel of a vehicle, and a bushing disposed at a connection part between the swing arm and the bearing structure or the wheel. The bushing includes an inner ring of the bushing and an outer ring of the bushing. The measurement apparatus includes a sensing unit and a processing unit. The sensing unit is configured to obtain relative rotation information between the inner ring of the bushing and the outer ring of the bushing. The processing unit may be configured to determine, based on the relative rotation information, first indication information indicating the height of the suspension system. Embodiments of this application are applicable to a new energy vehicle such as an electric vehicle or a hybrid electric vehicle. When the measurement apparatus is used to measure a suspension height, there is no need to design a specific support for a vehicle type and a suspension arrangement manner. This can reduce adaptation work for the vehicle type and a suspension, and offers good universality for suspension height measurement.

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An optical module, a transmitting module, a detection apparatus, and a terminal device are provided. The optical module may be used in a lidar, and may be used in fields such as autonomous driving, intelligent driving, assisted driving, or mapping. The optical module includes a collimation component and a light homogenization component. The collimation component is configured to collimate a light beam. The light homogenization component is configured to homogenize the light beam from the collimation component. The collimation component is perpendicular to a principal optical axis of the optical module. An included angle between the light homogenization component and the principal optical axis of the optical module is α, and θ≤α<90°. The light homogenization component is inclined, so that a size of a light passing region formed by projecting, onto a window, an emergent light beam of the light homogenization component can be reduced, thereby decreasing a size of the transmitting module with an inclined window, and mitigating a stray light risk of a lidar with the inclined window.

A control method and apparatus, and an intelligent driving device are provided. The method includes: controlling an intelligent driving device to travel along a first planned route, where the first planned route is obtained through planning in a first planning mode; and when a first obstacle in the first planned route causes a passable width corresponding to a first area to be less than or equal to a first preset threshold, and/or when the first obstacle causes a curvature of a feasible route in the first area to be greater than or equal to a second preset threshold, controlling the intelligent driving device to switch from traveling along the first planned route to traveling along a second planned route, where the second planned route is obtained through planning in a second planning mode, the first planning mode is different from the second planning mode, and the first planned route passes through the first area. The method may be applied to an intelligent vehicle like an electric vehicle or a new energy vehicle, to reduce a probability that the intelligent driving device cannot perform route planning due to an obstacle or a complex road condition in an AVP parking process, and help improve a parking success rate.

An optical module (20), a lidar, and a terminal are provided, and are used in the field of detection technologies. The optical module (20) includes an optical emitting module (201), a coaxial optical module (202), a scanning module (203), and an optical receiving module (204). During emission, a first light beam is propagated to object space successively through the optical emitting module (201), the coaxial optical module (202), and the scanning module (203). During receiving, a first returned light beam is propagated to the optical receiving module (204) successively through the scanning module (203) and the coaxial optical module (202), and a first included angle exists between the first light beam that has passed through the coaxial optical module (202) and the first returned light beam that has not reached the coaxial optical module (202) yet. A first offset exists between a position of the optical receiving module (204) and an ideal received light beam of the first light beam, to compensate for an angle offset of the first returned light beam, so that a light spot of the first returned light beam is closer to an effective receiving region of the optical receiving module (204), or even overlaps with a center of the effective receiving region. In this way, a signal loss caused by a walk off angle can be reduced, echo validity can be improved, and detection performance can be improved.

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